USER CONTROL DEVICE FROM A TRANSPORTER

There is described a method for negotiating, in a transporter, a door including at least one handle, a door swing, and a doorway, the method comprising: receiving and segmenting environmental information from sensors mounted on the transporter, the environmental information including geometry of the transporter; identifying at least one plane within the segmented environmental information; identifying the door within the at least one plane; measuring, based on the segmented environmental information, the door; providing a first movement command for moving the transporter for access to the at least one handle; providing a second movement command, wherein, if the door swing is towards the transporter, the second movement command is a command to move the transporter away from the door as the door opens by a distance based on the measured door; and providing a third movement command to move the transporter forward through the doorway. There is also described a transporter for negotiating a door.