Sistem Navigasi dari Holonomic Mobile Robot untuk Membantu Tenaga Kesehatan dalam Pengiriman Logistik kepada Pasien

Currently, many health workers have died because of being infected by COVID-19. This happens as a result of one of the duties of health workers, namely, to carry out logistics deliveries to patients so that contact between health workers and COVID-19 patients often occurs. Mobile robots are considered as the right solution to overcome these problems. With mobile robots, hospitals or places for isolation can minimize contact between infected patients and health workers by carrying out logistics delivery tasks. In order to carry out its tasks, mobile robots must interact with the environment. If it must interact with its environment, it must be able to navigate. The navigation system is a system that guides the mobile robot from one place to another. In this study, a navigation system was applied using a position driver and obstacle avoidance with a fuzzy controller so that the mobile robot was able to move to avoid obstacles when it reached its target. Fuzzy controller is used for obstacle avoidance because it is an algorithm for decision making that has linguistic variables that are easily understood by humans. Based on the results of the tests that have been carried out, the mobile robot with the proposed navigation system can perform logistics delivery tasks to reduce contact between COVID-19 patients and health workers.