A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR
Abstract
:1. Introduction
New Contribution
2. Materials and Methods
2.1. APR-02 Mobile Robot
2.2. Mobile Robot Self-Localization Based on 2D LIDAR
2.3. Map of the Different Floors of the Building
2.4. Remotely Controlled Elevators
3. Procedure to Take the Elevator
3.1. Entering the Elevator
3.2. Exiting from Inside the Elevator
3.3. Taking the Elevator
3.4. Path Planning including Navigation between Floors
4. Results
4.1. Self-Localization Next to the Elevators
4.2. Elevator Door Status Detection
4.3. Path Tracking When Entering and Exiting the Elevator
4.4. Taking the Elevator
5. Discussions and Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
References
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Function | Description |
---|---|
send_elevator (ID, FLOOR) | ID: is the identification of the elevator. FLOOR: is the destination floor of the elevator. In this work, the valid floors are: −1, 0, 1, 2 and 3. |
send_elevator (ID, ACTION) | ID: is the identification of the elevator. ACTION: is an action implemented in the original button panel of the elevator. In this work, the valid actions are: KeepOpen, maintain the button that keeps the door open pressed. Close, releases the button that keeps the door open. Alarm, press the alarm button of the elevator. |
Sequence: Function | Description | Map (Blue) + LIDAR (Red) |
---|---|---|
START of the procedure to enter elevator 1 (E1) | ||
1: navigate_to (WP-E1) | The mobile robot must navigate to the waypoint located in front of elevator 1 (WP-E1). | |
The mobile robot reaches the waypoint located in front of elevator 1 (WP-E1) and is facing the door. | ||
2: send_elevator (E1, Floor2) | The mobile robot calls the elevator (E1) from floor 2 (where the mobile robot currently is). | |
3: waitfor_door_open (E1) | The mobile robot waits until it detects that the sliding door of the elevator is starting to open. | |
The sliding door of elevator 1 is detected as opening (green area without scans). | ||
4: send_elevator (E1, KeepOpen) | The mobile robot sends elevator 1 the order to keep the door open in order to prevent unexpected door closing. | |
5: waitfor_door_fullyopen (E1) | The mobile robot waits until the door of the elevator is fully open. | |
The mobile robot detects full opening of the sliding door (all three green areas in the door area without scan points). | ||
6: navigate_to (WP-E1I) | The mobile robot navigates to the waypoint inside the elevator (WP-E1I). | |
The mobile robot reaches the waypoint located inside elevator 1 (WP-E1I). | ||
The mobile robot is inside elevator 1 (E1) END of this partial sequence |
Sequence: Function | Description | Map (Blue) + LIDAR (Red) |
---|---|---|
START of this partial sequence | ||
7: send_elevator (E1, Floor1) | Sends the elevator (E1) the destination floor | |
8: send_elevator (E1, Close) | Allows automatic closing of the elevator door | |
9: rotate (180°) | The mobile robot rotates 180° to exit | |
The mobile robot completes the rotation | ||
10: waitfor_door_closed (E1) | The mobile robot waits until the door of the elevator is fully closed | |
The mobile robot detects full closure of the sliding door of the elevator | ||
11: waitfor_door_open (E1) | The mobile robot waits for full opening of the door of the elevator | |
The mobile robot detects full opening of the sliding door | ||
12: send_elevator (E1, KeepOpen) | Send elevator the order to keep the door open | |
13: navigate_to (WP-E1) | The mobile robot navigates to the waypoint outside the elevator (WP-E1) | |
The mobile robot reaches the waypoint outside the elevator (WP-E1) | ||
14: send_elevator (E1, Close) | Allow automatic closing of the door | |
END of the procedure to take elevator 1 CONTINUE navigation |
Function | Description |
---|---|
goto_floor (FLOOR) | FLOOR: is the destination floor of the mobile robot. In this work, the valid floors are −1, 0, 1, 2 and 3. This macro function defines the external waypoint of elevator 1 (WP-E1) as the new mobile robot trajectory destination, enters and exits from the elevator, and ends with the mobile robot located at (WP-E1) on the specified destination FLOOR (sequences in Table 2 and Table 3) |
Single-Floor Mission Sequence: Function | Dual-Floor Mission Sequence: Function |
---|---|
SP1: start_at (Floor2, WP-OFFICE) SP2: move_to (WP-LAB1) SP3: move_to (WP-OFFICE) | DP1: start_at (Floor2, WP-OFFICE) DP2: goto_floor (Floor1) DP3: move_to (WP-LAB1) DP4: goto_floor (Floor2) DP5: move_to (WP-OFFICE) |
Experiment | Starting Floor | Destination Floor | Navigation Problem | Arrival Floor |
---|---|---|---|---|
1 | 2 | 1 | No | 1 |
2 | 1 | 2 | No | 2 |
3 | 2 | 3 | No | 3 |
4 | 3 | −1 | No | 0 1 |
5 | 0 | 2 | No | 2 |
6 | 2 | 0 | No | 0 |
7 | 0 | 3 | No | 3 |
8 | 1 | 0 | No | 0 |
9 | 0 | 3 | No | 2 1 |
10 | 2 | −1 | No | −1 |
11 | −1 | 0 | No | 0 |
12 | 0 | 2 | No | 2 |
13 | 2 | 1 | No | 1 |
14 | 1 | 3 | No | 3 |
15 | 3 | 2 | No | 2 |
Concept | Number of Experiments | Successful Experiments | Failed Experiments | Success Rate |
---|---|---|---|---|
Entering the elevator | 15 | 15 | 0 | 100% |
Exiting the elevator | 15 | 15 | 0 | 100% |
Arriving at the planned destination floor | 15 | 13 | 2 1 | 86% |
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Palacín, J.; Bitriá, R.; Rubies, E.; Clotet, E. A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR. Sensors 2023, 23, 6089. https://doi.org/10.3390/s23136089
Palacín J, Bitriá R, Rubies E, Clotet E. A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR. Sensors. 2023; 23(13):6089. https://doi.org/10.3390/s23136089
Chicago/Turabian StylePalacín, Jordi, Ricard Bitriá, Elena Rubies, and Eduard Clotet. 2023. "A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR" Sensors 23, no. 13: 6089. https://doi.org/10.3390/s23136089
APA StylePalacín, J., Bitriá, R., Rubies, E., & Clotet, E. (2023). A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR. Sensors, 23(13), 6089. https://doi.org/10.3390/s23136089