The Development of an Autonomous Robot System for Patrolling in Multi-Floor Structured Environment
Tao He*, Masashi Bando*, Michele Guarnieri**,
and Shigeo Hirose*,***
*Department of Mechanical & Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-Ku, Tokyo 152-8552, Japan
***Super Mechano-System Innovation and Development Center
This paper introduces the design methods and organization of an automation robot system developed for security purpose. The unique roller wheel design makes the platform suited for stair climbing while still achieving a stable movement on a flat ground. The robot also features a localization scheme which is based on the observation of the ceiling and therefore can work properly in a highly dynamic environment. A collision avoidance system and an inspection system are proposed for realizing the autonomous surveillance application. Different experiments were carried out and the results confirmed the system’s robustness for patrolling inside multi-floor structured environment.
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