Original title: Mobile Robot in the Elevator: What Floor Am i On?
Authors: Krejsa, Jiří ; Věchet, Stanislav ; Chen, K.S. ; Havelka, M. ; Černil, M.
Document type: Papers
Conference/Event: International Conference on Mechatronics - Mechatronika /20./, Plzeň (CZ), 20221207
Year: 2022
Language: eng
Abstract: Wheeled mobile robots in multiple stories buildings have to use elevator to access arbitrary floor of the building. To do so, the control system must be able to detect and access elevator controls and also determine on which floor the elevator stopped. The paper deals with the latter problem, using the fusion of relative floor change detected by onboard accelerometer and absolute floor number detected by the processing of elevator information screen panel image acquired by onboard camera. Bayesian filter is used for data fusion and convolution neural network for image processing. Field tests resulted in 97% correct detection.
Keywords: Bayesian filtering; elevator floor determination; mobile robot
Project no.: MOST-20-06 (CEP)
Funding provider: AV ČR
Host item entry: Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika, ME 2022, ISBN 978-166541040-3
Note: Související webová stránka: https://ieeexplore.ieee.org/document/9983194

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: https://hdl.handle.net/11104/0340386

Permalink: http://www.nusl.cz/ntk/nusl-521018


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Research > Institutes ASCR > Institute of Thermomechanics
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