文章基本信息

标题：A New Robust Method for Mobile Robot Multifloor Navigation in Distributed Life Science Laboratories
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作者：Ali A. Abdulla ; Hui Liu ; Norbert Stoll 等
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2016
卷号：2016
DOI：10.1155/2016/3589395
出版社：Hindawi Publishing Corporation
摘要：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 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.