Intelligent Mobile Robot Controller Design for Hotel Room Service with Deep Learning Arm-Based Elevator Manipulator

Po Yu Yang, Tzu Hsuan Chang, Yu Hao Chang, Bing-Fei Wu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Although mobile robots have achieved great success in indoor navigation, they are still facing problems like operating through multi-floor hotel buildings. In this paper, a low-cost and lightweight mobile robot is proposed for hotel room service. For delivering any item that customers need, the robot should be able to manipulate elevators in an unmanned hotels. So, it is separated into three parts: elevator button detection, coordinate transform and fuzzy logical control to manipulate the robotic arm. To recognize and detect a variety of elevator panels and buttons, a large number of the images are collected and labeled manually by ourselves. With state-of-the-art deep learning framework, our model has achieved 95.172 mean average precision (mAP) even in elevators that are not included in training data. After properly detecting the elevator buttons, the 3D position corresponding to each elevator button is transformed by the fusion of two sensors which are a mono-camera and a Lidar. This paper presents a coordinates transform neural network to estimate real world position, and our method achieves in an average distance error of 1.356 mm. The fuzzy logical controllers are designed for manipulating the robotic arm fast and smoothly.

Original languageEnglish
Title of host publication2018 International Conference on System Science and Engineering, ICSSE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538662854
DOIs
StatePublished - 1 Nov 2018
Event2018 International Conference on System Science and Engineering, ICSSE 2018 - New Taipei City, Taiwan
Duration: 28 Jun 201830 Jun 2018

Publication series

Name2018 International Conference on System Science and Engineering, ICSSE 2018

Conference

Conference2018 International Conference on System Science and Engineering, ICSSE 2018
CountryTaiwan
CityNew Taipei City
Period28/06/1830/06/18

Keywords

  • Deep learning
  • fuzzy logical control
  • object detection
  • robotic arm manipulating
  • sensors fusion

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