This paper presents the development of an autonomous mobile robot (AMR) system for hospital logistics in quarantine zones. The designed system includes a remote control station, five autonomous mobile robots Vibot-2, a wireless communication network and an observation system for reducing workload and avoiding the risk of infection for frontline health workers in quarantine zones. The overall architecture and hardware system are designed to meet all design requirements. The control software architecture of the robotic system is constructed in the robot operating system (ROS) framework. The navigation framework is developed based on the ROS Navigation Stack to move the robot safely and avoid the humans in its surrounding working area. In addition, the perception system is integrated a deep learning model for human detection and use the AprilTags to help the robots recognize and navigate to cart and charging stations. Finally, the low-cost solution based on the fusion of localization using AprilTags on the ceiling and the AMCL algorithm is developed for improving robustness and precision. The autonomous mobile robot system has been successfully built and deployed at COVID-19 field hospitals in Ha Nam, Bac Giang and Ho Chi Minh City in Vietnam in the year 2021.
Development of an Autonomous Mobile Robot System for Hospital Logistics in Quarantine Zones
Lect. Notes in Networks, Syst.
The International Conference on Intelligent Systems & Networks ; 2023 ; Hanoi, Vietnam March 18, 2023 - March 19, 2023
2023-08-20
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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