A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR

Palacín, Jordi; Bitriá, Ricard; Rubies, Elena; Clotet, Eduard

doi:10.3390/s23136089

Cited by 4 publications

(8 citation statements)

References 51 publications

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“…The analysis of the paths obtained suggested the definition of a navigation tree to reduce the complexity of the stationary delivery problem and avoid the use of genetic algorithms. Complementarily, in a previous work [31], we demonstrated that a mobile robot using 2D LiDAR and ICP matching for self-localization could take a remotely controlled elevator and navigate between floors, so this proposal is used for floor navigation.…”

mentioning

confidence: 82%

“…The spatial information involves the position of all possible destinations as well as the navigable areas available to reach these destinations [24,25] and allows the use of a graph search algorithm to obtain an optimal path [26]. The operational information involves the procedures to navigate in the building such as interacting with elevators [27][28][29][30][31] and doors [32][33][34][35][36]. The spatial information is usually referenced in a 2D map [37,38] which describes the metric, topology, navigable areas, and appearance of the application scenario [39][40][41][42].…”

Section: Introductionmentioning

confidence: 99%

“…This work is inspired by the contribution of Kim et al [100] and is a continuation of the work of Palacín et al [31]. Kim et al [100] proposed a method to estimate the travel time of an indoor delivery robot working in a building with an elevator.…”

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confidence: 99%

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Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree

Palacín,

Rubies,

Bitriá

et al. 2023

Sensors

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Planning the path of a mobile robot that must transport and deliver small packages inside a multi-story building is a problem that requires a combination of spatial and operational information, such as the location of origin and destination points and how to interact with elevators. This paper presents a solution to this problem, which has been formulated under the following assumptions: (1) the map of the building’s floors is available; (2) the position of all origin and destination points is known; (3) the mobile robot has sensors to self-localize on the floors; (4) the building is equipped with remotely controlled elevators; and (5) all doors expected in a delivery route will be open. We start by defining a static navigation tree describing the weighted paths in a multi-story building. We then proceed to describe how this navigation tree can be used to plan the route of a mobile robot and estimate the total length of any delivery route using Dijkstra’s algorithm. Finally, we show simulated routing results that demonstrate the effectiveness of this proposal when applied to an autonomous delivery robot operating in a multi-story building.

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mentioning

confidence: 82%

Section: Introductionmentioning

confidence: 99%

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Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree

Palacín,

Rubies,

Bitriá

et al. 2023

Sensors

Self Cite

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“…Starting from a known waypoint (or node position) on the map, the A* algorithm determines which sequence of nodes in the navigation tree are to be visited to complete an exploratory mission. This sequence includes the possibility of accessing elevators to navigate between the floors of the building during a mission [64]. Figure 4 depicts an example of the planned path from the current robot position (violet ring) to a destination defined by a key waypoint (black ring).…”

Section: Methods For Path-planningmentioning

confidence: 99%

A Retrospective Analysis of Indoor CO2 Measurements Obtained with a Mobile Robot during the COVID-19 Pandemic

Palacín,

Rubies,

Clotet

2024

Sensors

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This work presents a retrospective analysis of indoor CO2 measurements obtained with a mobile robot in an educational building after the COVID-19 lockdown (May 2021), at a time when public activities resumed with mandatory local pandemic restrictions. The robot-based CO2 measurement system was assessed as an alternative to the deployment of a net of sensors in a building in the pandemic period, in which there was a global stock outage of CO2 sensors. The analysis of the obtained measurements confirms that a mobile system can be used to obtain interpretable information on the CO2 levels inside the rooms of a building during a pandemic outbreak.

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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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A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR

Cited by 4 publications

References 51 publications

Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree

Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree

A Retrospective Analysis of Indoor CO2 Measurements Obtained with a Mobile Robot during the COVID-19 Pandemic

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

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