A Human-Aware Robotic System for Mobile Robot Navigating in Multi-Floor Building with Elevator

Zhao, Junxin; Chen, Yujing; Lou, Yunjiang

doi:10.1109/wrc-sara.2019.8931948

Cited by 6 publications

(3 citation statements)

References 15 publications

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“…Various methods for inter-floor movement have also been researched. Approaches where robots recognize people in elevators, follow them on board, and use barometers to detect floor changes to reach the desired floor have been studied [22], [29]. Research has also been conducted on recognizing buttons and numbers through vision [17], [30].…”

Section: Related Workmentioning

confidence: 99%

Development of an Indoor Delivery Mobile Robot for a Multi-Floor Environment

Kim,

Kang,

Lee

et al. 2024

IEEE Access

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In recent years, the demand for delivery services has increased by applying robot technology in various fields such as food services, logistics, hospitals, and hotel business. However, it is still challenging to perform autonomous delivery in multi-floor buildings. Particularly for wheeled robots, the use of elevators is essential for indoor last-mile delivery service in buildings. To tackle the problem, We have developed an indoor delivery mobile robot and present its architecture designed for multi-floor environments. The architecture consists of five modules: map management for utilizing an integrated navigation map, localization, path planning, perception, and task planning. The integrated navigation map is generated by combining multi-floor point cloud maps and topological maps based on node graphs for effective localization and path planning. Additionally, the proposed 3D route planning allows inter-floor movement. A feasible path for boarding the elevator can be generated through the perception module, and delivery services to multiple destinations can be repeatedly performed through task planning. Our architecture's effectiveness is demonstrated through a month-long field test in an ordinary building during regular business hours. This study's contributions include a novel architecture for autonomous delivery without human intervention, an integrated map for efficient indoor navigation, and the proven robustness of the system in real-world scenarios.

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Section: Related Workmentioning

confidence: 99%

Development of an Indoor Delivery Mobile Robot for a Multi-Floor Environment

Kim,

Kang,

Lee

et al. 2024

IEEE Access

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“…There are no large robots available for laser welding within vast LNG cargo holds that are capable of movement between different levels. Although studies such as [10][11][12] have been conducted on robots with elevator-like movements for logistics and transportation purposes, laser welding robots face the challenge of accommodating very thick cables due to issues such as wiring, cooling, and power requirements. Technical and procedural solutions are required to address these issues.…”

Section: How To Secure the Precision Of Mobile Robotsmentioning

confidence: 99%

The Developmentof Software to Automate the Laser Welding of a Liquefied Natural Gas Cargo Tank Using a Mobile Manipulator

Choi,

Park,

Bak

et al. 2023

Applied Sciences

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The demand for liquefied natural gas (LNG) ships is increasing for various reasons. Despite their enormous size, cargo holds inside freighters transporting LNG have traditionally been constructed by welding to high-quality standards for safety. This process traditionally relies on manual labor or semi-automatic moving devices. In this study, a methodology was designed for robot-based automated laser welding inside large LNG cargo holds. The developed approach offers a practical solution to challenging issues such as the corrugation of the membrane that forms the inner walls of LNG cargo holds and the inter-floor movement of robots. This study analyzes and restructures the work for laser welding using mobile robots inside LNG cargo holds composed of membranes. For realistic constraints, such as inter-floor movement of robots and high-quality welding of membrane corrugations, methods integrated with manual work have been proposed. Additionally, for the overall membrane laser welding of the LNG cargo hold space, an automated method using robots was suggested. The developed methodology has been realized as operational software for the movement of robots for laser welding in LNG cargo holds.

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“…This approach used multiple control algorithms to execute different robot behaviors to achieve safe navigation of mobile robots. Zhao et al [10] proposed an obstacle avoiding approach that detects obstacles using the YOLO-v3 tiny model and obtains the state of the elevator with a LiDAR based approach, which achieves safety navigation in the elevator. Correia et al [11] implemented an obstacle avoidance method that utilizes Gmapping to map the entrance and interior of the elevator, yet this approach is not suitable for environments with crowded spaces or obstacles.…”

Section: Robot Navigation In Elevator Environmentmentioning

confidence: 99%

Reinforcement Learning Approach to Clear Paths of Robots in Elevator Environment

Ma¹,

Wang²,

Shi³

et al. 2022

Preprint

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Efficiently using the space of an elevator for a service robot is very necessary, due to the need for reducing the amount of time caused by waiting for the next elevator. To solve this, we propose a hybrid approach that combines reinforcement learning (RL) with voice interaction for robot navigation in the scene of entering the elevator. RL provides robots with a high exploration ability to find a new clear path to enter the elevator compared to the traditional navigation methods such as Optimal Reciprocal Collision Avoidance (ORCA). The proposed method allows the robot to take an active clear path action towards the elevator whilst a crowd of people stands at the entrance of the elevator wherein there are still lots of space. This is done by embedding a clear path action (beep) into the RL framework, and the proposed navigation policy leads the robot finish tasks efficiently and safely. Our model approach provides a great improvement in the success rate and reward of entering the elevator compared to state-of-the-art ORCA and RL navigation policy without beep.Note to Practitioners-This paper is motivated by the safety and efficiency concerns of mobile robots when performing transportation tasks in crowded environments such as elevators. Existing methods improve the robot's navigation ability and make the robot have good obstacle avoidance capability, but it is hard to ensure the efficiency of transportation tasks. To ensure the safe and efficient entry of the robot into the elevator, we propose a hybrid approach that combines reinforcement learning with voice interaction. The proposed method allows the robot to appropriately choose passive obstacle avoidance or take an active clear path by beeps according to the environment and current task.

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A Human-Aware Robotic System for Mobile Robot Navigating in Multi-Floor Building with Elevator

Cited by 6 publications

References 15 publications

Development of an Indoor Delivery Mobile Robot for a Multi-Floor Environment

Development of an Indoor Delivery Mobile Robot for a Multi-Floor Environment

The Developmentof Software to Automate the Laser Welding of a Liquefied Natural Gas Cargo Tank Using a Mobile Manipulator

Reinforcement Learning Approach to Clear Paths of Robots in Elevator Environment

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