DEVELOPMENT OF A MOBILE ROBOT NAVIGATION USING MULTI-MAP METHOD

The multi-map navigation using SLAM is one of the current research topics of the mobile robots. In this paper, we describe a study of a mobile robot navigation using the multi-map method. By applying SLAM, both the map and trajectory of a mobile robot can be generated simultaneously. However, the drawback of SLAM depends on sensor accuracy, which may cause mapping failure. One of the solutions to prevent the failure of mapping is not monolithic mapping but short-term multiple mapping. The advantage of short-term multiple map generation can reduce map construction failures. The other typical applications for multi-map is multi-floor navigation. In this paper, we apply multi-map method for both navigations. The usefulness of the proposed method was confirmed by simulation and actual experiments

キュウケイドウリョクデンタツキコウヲモチイタアクティブキャスタオヨビゼンホウコウイドウシャリョウニカンスルケンキュウ

博士（工学）東京農工大

An intelligent multi-floor mobile robot transportation system in life science laboratories

In this dissertation, a new intelligent multi-floor transportation system based on mobile robot is presented to connect the distributed laboratories in multi-floor environment. In the system, new indoor mapping and localization are presented, hybrid path planning is proposed, and an automated doors management system is presented. In addition, a hybrid strategy with innovative floor estimation to handle the elevator operations is implemented. Finally the presented system controls the working processes of the related sub-system. The experiments prove the efficiency of the presented system