Development of automatic elevator navigation algorithm for JAUS compliant mobile robot

摘要

In this paper, we describe the development of an automatic elevator navigation component for a JAUS- compliant mobile robot designed for the Tsukuba Challenge 2011's “getting the elevator” rule, in which the mobile robot automatically boards an elevator when the elevator door is opened. The use of both a laser range scanner and an omnidirectional camera allowed for robust and stable navigation. In order to confirm validity of the proposed elevator navigation algorithm, we develop reflexive driver which adopts JAUS specification that is current U.S. standard interface for unmanned system. Developed JAUS compliant reflexive driver is implemented and tested at elevator system.