<title>HelpMate autonomous mobile robot navigation system</title>

Abstract

HelpMate is a mobile robotic materials transport system that performs fetch and carry tasks at Danbury Hospital. It autonomously navigates along the main arteries of the hospital crossing between buildings via interconnecting hallways and uses radio to communicate with the elevator. HelpMate uses sensor information to follow straight paths down hallways and to successfully reach its destination. Also HelpMate has the ability to sense obstacles in its path and plot a course around them. A two part vision system is employed on HelpMate to aid in navigation and obstacle avoidance. One part determines the vehicle''s orientation and position in the hallway by looking at the ceiling lights. The other part uses structured light projecting forward into the immediate path of the robot to detect obstacles.