Development of LiDAR Navigation and BLE-RSSI Indoor Positioning for an Accident-Response Home-Bot

Abstract

The assistance and convenience of smart robotics drive industries to develop autonomous and interactive robots. Addressing such robotics enhancement, an autonomous accident-response home robot was developed by integrating two systems: the BLE-RSSI trilateration for its person tracking and the LiDAR SLAM for its path guidance. The created home robot can conquer 3-level accident-enactment setups. Results yield a $97.4 \%$ success rate for the IR sensory system, $91.1 \%$ for the IPS, $98.9 \%$ for the rally point arrival of the robot, and $98.3 \%$ for exit procession. Consolidation of the BLE-RSSI IPS and LiDAR-IR navigation system has enabled a proficient $86.3 \%$ accident-response capability of the robot.