Mobile Robot in the Elevator: What Floor Am i On?

0568020 - ÚT 2023 RIV CZ eng C - Konferenční příspěvek (zahraniční konf.)
Krejsa, Jiří - Věchet, Stanislav - Chen, K.S. - Havelka, M. - Černil, M.
Mobile Robot in the Elevator: What Floor Am i On?
Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika, ME 2022. New York: Institute of Electrical and Electronics Engineers Inc., 2022, č. článku 185401. ISBN 978-166541040-3.
[International Conference on Mechatronics - Mechatronika /20./. Plzeň (CZ), 07.12.2022-09.12.2022]
Grant ostatní: AV ČR(CZ) MOST-20-06
Program: Bilaterální spolupráce
Institucionální podpora: RVO:61388998
Klíčová slova: mobile robot * elevator floor determination * Bayesian filtering
Obor OECD: Robotics and automatic control
https://ieeexplore.ieee.org/document/9983194

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.
Trvalý link: https://hdl.handle.net/11104/0340386