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

ABSTRACT: 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.

SUBMITTER: Palacin J 

PROVIDER: S-EPMC10648392 | biostudies-literature | 2023 Oct

REPOSITORIES: biostudies-literature