A New Robust Method for Mobile Robot Multifloor Navigation in Distributed Life Science Laboratories

Ali A. Abdulla, Hui Liu, Norbert Stoll, Kerstin Thurow
2016 Journal of Control Science and Engineering  
A new robust method is proposed for multifloor navigation in distributed Life Science Laboratories. This method proposes a solution for many technical issues including (a) mapping and localization with ceiling landmarks and a StarGazer module for achieving an accurate and low cost multifloor navigation system, (b) a new method for path planning to navigate across multiple floor environments called backbone method and embedded transportation management system, (c) elevator environment handler
more » ... ironment handler with the necessary procedures to interact with the elevator presenting a new approach for elevator entry button and internal buttons detection, and (d) communication system to get an expandable network; this method utilizes a TCP/IP network for the communication. Many experiments in real Life Science Laboratories proved the efficient performance of the developed multifloor navigation system in life science environment.
doi:10.1155/2016/3589395 fatcat:ngwplwwjnfh4nmrwmasikg23ji