June 23, 2013
June 23, 2013
June 26, 2013
Electrical and Computer
23.917.1 - 23.917.10
Multi-floor Mapping and Navigation with Uncertainty – An Undergraduate’s PerspectiveRobotics and their widely varied applications are becoming increasingly important in all fields ofscience and engineering. Researchers use robotics to solve complex problems that could not besolved before. Furthermore, it enables undergraduate students to participate in multi-disciplinaryengineering activities and explore topics beyond the traditional undergraduate curriculum. Thispaper provides an undergraduate students perspective on the development of new methods formulti-floor mapping and navigation with uncertainty.A mobile robotic navigation system was developed using the Microsoft Kinect for machinevision, the iRobot Create for movement, and the open-source Robot Operating System (ROS).This platform utilizes a network of applications running across multiple computers in real time.This platform is used to create a map which is then used to navigate multiple floors of theengineering building. Although Kinect sensors have been previously used to map and navigatesmall indoor spaces, a multi-floor environment presented significant new challenges. This paperdescribes our solution to these challenges.One such challenge of a multi-floor environment was navigating between floors using a bank ofelevators. This was broken down into multiple sub-problems. The first was positioning the robotin front of the elevator bank using the created map of the environment and sensor data forobstacle avoidance. Next, alignment relative to the doors using image processing techniques wasused to confirm that the doors were in the robot’s field of view. Then, infrared depth scans wereused not only to detect if an elevator had arrived, but to detect which particular elevator door hadopened. Finally, techniques were developed for use when the robot lost wireless communicationsto the application server in dead zones such as inside the elevators.The result of this project is that groundwork has been laid for mobile robotic systems to performmulti-floor navigation within a building. This leads to many other applications such asautonomous tour guides, retrieval of objects and information gathering within an area.
Ellingson, J., & Nepal, K., & McGill, M. R., & Hoffmann, M. J. (2013, June), Multi-floor Mapping and Navigation with Uncertainty Paper presented at 2013 ASEE Annual Conference & Exposition, Atlanta, Georgia. https://peer.asee.org/22302
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