Floor-to-floor navigation for a mobile robot

In this paper we introduce a navigation system for a mobile robot, which enables the mobile robot to move from a place to another place even though the places are not on same floors. We define a topological graph among multiple floors or even multiple buildings, and then find the shortest path using the graph search methods like Dijkstra´s algorithm. The successful experimental results in an our navigation system embedded in a real mobile robot show the usefulness of the proposed navigation system.