Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Sensor System for Autonomous Mobile Robot Capable of Floor-to-floor Self-navigation by Taking On/off an Elevator

엘리베이터를 통한 층간 이동이 가능한 실내 자율주행 로봇용 센서 시스템

  • Min-ho Lee (School of Intelligent Mechatronics Engineering, Sejong University) ;
  • Kun-woo Na (School of Robotics, Hoseo Unversity) ;
  • Seungoh Han (School of Robotics, Hoseo Unversity)
  • 이민호 (세종대학교 지능기전공학과) ;
  • 나건우 (호서대학교 로봇공학과) ;
  • 한승오 (호서대학교 로봇공학과)
  • Received : 2023.02.28
  • Accepted : 2023.03.30
  • Published : 2023.03.31
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Abstract

This study presents sensor system for autonomous mobile robot capable of floor-to-floor self-navigation. The robot was modified using the Turtlebot3 hardware platform and ROS2 (robot operating system 2). The robot utilized the Navigation2 package to estimate and calibrate the moving path acquiring a map with SLAM (simultaneous localization and mapping). For elevator boarding, ultrasonic sensor data and threshold distance are compared to determine whether the elevator door is open. The current floor information of the elevator is determined using image processing results of the ceiling-fixed camera capturing the elevator LCD (liquid crystal display)/LED (light emitting diode). To realize seamless communication at any spot in the building, the LoRa (long-range) communication module was installed on the self-navigating autonomous mobile robot to support the robot in deciding if the elevator door is open, when to get off the elevator, and how to reach at the destination.

Keywords

Acknowledgement

본 연구는 2019년 과학기술정보통신부 및 정보통신기획 평가원의 SW중심대학사업의 연구결과로 수행되었음. (2019-0-01834)

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