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

Abstract

Navigating between the different floors of a multistory building is a task that requires walking up or down stairs or taking an elevator or lift. This work proposes a procedure to take a remotely controlled elevator with an autonomous mobile robot based on 2D LIDAR. The application of the procedure requires ICP matching for mobile robot self-localization, a building with remotely controlled elevators, and a 2D map of the floors of the building detailing the position of the elevators. The results show that the application of the procedure enables an autonomous mobile robot to take a remotely controlled elevator and to navigate between floors based on 2D LIDAR information.

Keywords

• elevator
• lift
• mobile robot
• ICP
• SLAM
• multistory navigation