摘要
Transportation technologies for mobile robots include indoor navigation,intelligent collision avoidance and target manipulation.This paper discusses the research process and development of these interrelated technologies.An efficient multi-floor laboratory transportation system for mobile robots developed by the group at the Center for Life Science Automation(CELISCA)is then introduced.This system is integrated with the multi-floor navigation and intelligent collision avoidance systems,as well as a labware manipulation system.A multi-floor navigation technology is proposed,comprising sub-systems for mapping and localization,path planning,door control and elevator operation.Based on human-robot interaction technology,a collision avoidance system is proposed that improves the navigation of the robots and ensures the safety of the transportation process.Grasping and placing operation technologies using the dual arms of the robots are investigated and integrated into the multi-floor transportation system.The proposed transportation system is installed on the H20 mobile robots and tested at the CELISCA laboratory.The results show that the proposed system can ensure the mobile robots are successful when performing multi-floor laboratory transportation tasks.
