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Journal of Control Science and Engineering
Volume 2016, Article ID 3589395, 17 pages
Research Article

A New Robust Method for Mobile Robot Multifloor Navigation in Distributed Life Science Laboratories

1Center for Life Science Automation (CELISCA), University of Rostock, 18119 Rostock, Germany
2College of Engineering, University of Mosul, Mosul, Iraq
3Institute of Automation, University of Rostock, 18119 Rostock, Germany

Received 7 February 2016; Revised 16 May 2016; Accepted 29 May 2016

Academic Editor: Yongji Wang

Copyright © 2016 Ali A. Abdulla et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new robust method is proposed for multifloor navigation in distributed Life Science Laboratories. This method proposes a solution for many technical issues including (a) mapping and localization with ceiling landmarks and a StarGazer module for achieving an accurate and low cost multifloor navigation system, (b) a new method for path planning to navigate across multiple floor environments called backbone method and embedded transportation management system, (c) elevator environment handler with the necessary procedures to interact with the elevator presenting a new approach for elevator entry button and internal buttons detection, and (d) communication system to get an expandable network; this method utilizes a TCP/IP network for the communication. Many experiments in real Life Science Laboratories proved the efficient performance of the developed multifloor navigation system in life science environment.