Optimal path planning of a disinfection mobile robot against COVID-19 in a ROS-based research platform

IF 2.8 3区工程技术 Q2 ENGINEERING, MANUFACTURING

Advances in Production Engineering & Management Pub Date : 2021-12-18 DOI:10.14743/apem2021.4.409

L. Banjanović-Mehmedović, I. Karabegović, J. Jahić, M. Omercic

引用次数: 5

Abstract

Due to COVID-19 pandemic, there is an increasing demand for mobile robots to substitute human in disinfection tasks. New generations of disinfection robots could be developed to navigate in high-risk, high-touch areas. Public spaces, such as airports, schools, malls, hospitals, workplaces and factories could benefit from robotic disinfection in terms of task accuracy, cost, and execution time. The aim of this work is to integrate and analyse the performance of Particle Swarm Optimization (PSO) algorithm, as global path planner, coupled with Dynamic Window Approach (DWA) for reactive collision avoidance using a ROS-based software prototyping tool. This paper introduces our solution – a SLAM (Simultaneous Localization and Mapping) and optimal path planning-based approach for performing autonomous indoor disinfection work. This ROS-based solution could be easily transferred to different hardware platforms to substitute human to conduct disinfection work in different real contaminated environments.

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基于ros研究平台的COVID-19消毒移动机器人最优路径规划

由于新型冠状病毒感染症(COVID-19)的大流行，对移动机器人代替人工进行消毒的需求日益增加。新一代的消毒机器人可以被开发出来，在高风险、高接触区域进行导航。公共场所，如机场、学校、商场、医院、工作场所和工厂，在任务准确性、成本和执行时间方面都可以从机器人消毒中受益。本工作的目的是利用基于ros的软件原型工具，集成和分析粒子群优化(PSO)算法作为全局路径规划器与动态窗口方法(DWA)相结合的反应性避碰性能。本文介绍了我们的解决方案- SLAM(同步定位和映射)和基于最优路径规划的方法，用于执行自主室内消毒工作。这种基于ros的解决方案可以很容易地转移到不同的硬件平台上，代替人工在不同的真实污染环境中进行消毒工作。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advances in Production Engineering & Management ENGINEERING, MANUFACTURINGMATERIALS SCIENC-MATERIALS SCIENCE, MULTIDISCIPLINARY

CiteScore

5.90

自引率

22.20%

发文量

期刊介绍： Advances in Production Engineering & Management (APEM journal) is an interdisciplinary international academic journal published quarterly. The main goal of the APEM journal is to present original, high quality, theoretical and application-oriented research developments in all areas of production engineering and production management to a broad audience of academics and practitioners. In order to bridge the gap between theory and practice, applications based on advanced theory and case studies are particularly welcome. For theoretical papers, their originality and research contributions are the main factors in the evaluation process. General approaches, formalisms, algorithms or techniques should be illustrated with significant applications that demonstrate their applicability to real-world problems. Please note the APEM journal is not intended especially for studying problems in the finance, economics, business, and bank sectors even though the methodology in the paper is quality/project management oriented. Therefore, the papers should include a substantial level of engineering issues in the field of manufacturing engineering.