A Human-Aware Robotic System for Mobile Robot Navigating in Multi-Floor Building with Elevator

The wheel mobile robots navigation between floors inside the building need to take elevator, but the transition between maps and elevator state detection make difficulties for robots, also the safety problem should be consider for elevator space is narrow. In this paper, we introduce the 2D maps align algorithm with multi-map server to accomplish the transition between different maps, and propose a stable elevator state monitor, ensure the stable navigation while robot taking the elevator. Besides, we consider the human-awareness for taking elevator safety. To validate the algorithms, we implement these modules in a system, and deploy in a wheel mobile robot. By experiment in an unmodified building environment, the result shows that our robotic system can make the robot perform stable and safe navigation between different floors.