Autonomous navigation of a crawler-type delivery service robot in a multi-story building

Abstract

In this research, we are developing a delivery robot which is able to perform delivery service inside a multi-story building. The robot is designed to move to other floors via stairs. Since the robot has a novel structure to climb up and down the stairs, it requires several strategies for not only moving on stairs but also navigation on floors. In this paper, the simulation results for smooth moving up and down stairs, and a simple navigation method for the robot are introduced.