Abstract
In this study, we investigated a sophisticated system based on fusion map technology for autonomous robot navigation within multi-story buildings. Using visual markers and floor plan, we addressed the challenges encountered in indoor localization and floor recognition. Each floor was assigned a unique visual marker, which enabled initial positioning and floor recognition. The system combined grid and visual marker maps, to outperform conventional LiDAR map-based systems in terms of reliability. Architectural drawings offered an extra layer of consistency, by ensuring similar map structures across different floors of a building. The result was an efficient, reliable system for autonomous navigation in multi-story structures. This is a significant advancement in the field of indoor robot navigation, equipping robots with the necessary information to effectively perceive and navigate each floor of a building, even in complex environments.
Original language | English |
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Pages (from-to) | 52-58 |
Number of pages | 7 |
Journal | Journal of Institute of Control, Robotics and Systems |
Volume | 30 |
Issue number | 1 |
DOIs | |
State | Published - 2024 |
Bibliographical note
Publisher Copyright:© ICROS 2024.
Keywords
- ROS (Robot Operating System)
- floor plan
- multi-layered structure
- robot navigation
- visual marker