Investigating the navigation performance and sensing requirements of a mobile robot platform to access a passenger elevator

• Main Authors: Arevalo, Mark Anthony A., Asaba, Hiroki M., Nablo, Juan Paolo J.
• Format: text
• Published: Animo Repository 2017
• Subjects: Mobile robots; Indoor positioning systems (Wireless localization); Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/9105
• Institution: De La Salle University

This research aims to have system capable of navigating itself into the elevator and to the desired floor. The system will make use of ultrasonic sensors and Infrared transmitters and receivers for localization, and a navigation algorithm. Based on the tests conducted in a real simulated elevator environment and actual elevator environment, the mobile robot platform was able to enter the elevator and exit at the correct floor with a maximum position error of (-46.3cm,-17cm) and maximum orientation error of -17 degrees. A benchmark test was conducted to quantify odometry errors of differential robots to indicate that the significant position errors are due to non-systematic errors of the TurtleBot 1 differential drive robot. The findings indicate that the position errors are mostly non-systematic, since the wheelbase and wheel diameter factors are 0.998 and 1.008, respectively.