Conceptual design and simulation study of an autonomous indoor medical waste collection robot

Shaju, Shawn; George, Thomas F.; Francis, Jithin Kunnath; Joseph, Manu; Thomas, Mervin Joe

doi:10.11591/ijra.v12i1.pp29-40

Cited by 3 publications

(5 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…From the illustration of Fig. 1, the robot coordinates are obtained with equation ( 6) and (7). After that, equations ( 8), ( 9), (10), and ( 11) can be obtained.…”

Section: 𝐾 𝑤ℎ𝑒𝑒𝑙 = 2𝜋𝑟mentioning

confidence: 99%

“…The direction error value of the robot towards the destination point is calculated by the Pythagorean theorem. The current position and distance to the destination point are calculated using equation ( 6) dan (7). Heading error can be calculated based on the heading of the robot.…”

Section: 𝐾 𝑤ℎ𝑒𝑒𝑙 = 2𝜋𝑟mentioning

confidence: 99%

“…The development of robotics provides conveniences for humans [1][2][3] [4]. Robot is a technological product that combines hardware and software with a propulsion program used in a particular job [5][6] [7][8] [9]. Many activities that are too heavy for humans can be done easily with the help of robots, such as activities that require large amounts of energy, high costs, fast time and detailed accuracy [10] [11].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Ubaidillah,

Sukri

2023

Journal of Robotics and Control

View full text Add to dashboard Cite

One of the technologies in the industrial world that utilizes robots is the delivery of goods in warehouses, especially in the goods distribution process. This is very useful, especially in terms of resource efficiency and reducing human error. The existing system in this process usually uses the line follower concept on the robot's path with a camera sensor to determine the destination location. If the line and destination are not detected by the sensor or camera, the robot's navigation system will experience an error. it can happen if the sensor is dirty or the track is faded. The aim of this research is to develop a robot navigation system for efficient goods delivery in warehouses by integrating odometry and Dijkstra's algorithm for path planning. Holonomic robot is a robot that moves freely without changing direction to produce motion with high mobility. Dijkstra's algorithm is added to the holonomic robot to obtain the fastest trajectory. by calculating the distance of the node that has not been passed from the initial position, if in the calculation the algorithm finds a shorter distance it will be stored as a new route replacing the previously recorded route. the distance traversed by the djikstra algorithm is 780 mm while a distance of 1100 mm obtains the other routes. The time for using the Djikstra method is proven to be 5.3 seconds faster than the track without the Djikstra method with the same speed. Uneven track terrain can result in a shift in the robot's position so that it can affect the travel data. The conclusion is that odometry and Dijkstra's algorithm as a planning system and finding the shortest path are very efficient for warehouse robots to deliver goods than ordinary line followers without Dijkstra, both in terms of distance and travel time.

show abstract

“…From the illustration of Fig. 1, the robot coordinates are obtained with equation ( 6) and (7). After that, equations ( 8), ( 9), (10), and ( 11) can be obtained.…”

Section: 𝐾 𝑤ℎ𝑒𝑒𝑙 = 2𝜋𝑟mentioning

confidence: 99%

Section: 𝐾 𝑤ℎ𝑒𝑒𝑙 = 2𝜋𝑟mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Ubaidillah,

Sukri

2023

Journal of Robotics and Control

View full text Add to dashboard Cite

show abstract

“…In recent years, indoor autonomous mobile robots have been widely used in various fields such as service, aerospace military, and medicine (Shetty et al, 2022;Shaju et al, 2023;Schepers et al, 2022;Sanaullah et al, 2022;Kriegel et al, 2022;Bardaro et al, 2022). Path planning algorithm plays an important role in autonomous mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Improved Path Planning Algorithm Based on EB-RRT and APF

Jing,

Gao,

2024

Preprint

View full text Add to dashboard Cite

In practical operating environments, it is extremely important for mobile robots to reach the target area quickly and safely. Therefore, a new path planning algorithm, APF-EB-RRT, based on the EB-RRT algorithm was proposed in this article. The artificial potential field algorithm was introduced into the APF-EB-RRT algorithm. By adding potential field constraints that simulate the interaction between objects to the dynamic reprogramming structure, the EB-RRT algorithm can avoid the problems of high randomness and poor directionality caused by the EB algorithm. Meanwhile, the APF-EB-RRT algorithm can effectively avoid collisions between robots and obstacles, and guide robots to the target area. The effectiveness of the APF-EB-RRT algorithm was demonstrated by numerical simulation results. The APF-EB-RRT algorithm exhibited better performance in various environments than the other four algorithms. In a real dynamic environment, this algorithm can provide better path planning for mobile robots, and has good application prospects in the field of path planning.

show abstract

“…Despite the availability of multiple algorithms for object detection, the YOLO series emerges as an advanced and innovative technique, particularly proficient in real-time and highly accurate identification of objects. The inherent capability of YOLO algorithms to swiftly pinpoint and categorize objects within images renders them a valuable solution for navigating hospital settings efficiently (19)(20)(21)(22) .…”

Section: Introductionmentioning

confidence: 99%

Yolo Based Vision-Aided Obstacles Navigation and Avoidance with Path Planning using Sarsa Algorithm for Biped Robot in an Uncertain Hospital Environment

Duhan,

Panwar

2024

IJST

View full text Add to dashboard Cite

Background: This paper presents a method devised to ensure the secure navigation of biped robots within hospital environments by meticulously identifying an optimal collision-free path from initial to final positions while mitigating potential damage from undetected small objects. Methods: Implementation of a modified SARSA algorithm facilitates the seamless movement of biped robots amidst unknown environments replete with static obstacles. Extensive evaluation of several YOLO algorithms is conducted to ascertain accurate vision-based obstacle detection within hospital images. Subsequent utilization of the SARSA algorithm enables the planning of obstacle-free paths within the identified hospital setting. Findings: Within the evaluated YOLO algorithms, Yolov8 emerges as the pinnacle, showcasing unparalleled accuracy in object identification and refining bounding box precision for robot navigation within complex hospital environments. The SARSA-based path planning ensures the creation of collision-free routes, affirming safe traversal for the biped robot. Particularly noteworthy is Yolov8's exceptional precision in detecting minute objects, significantly reducing collision risks. Novelty: This research marks a significant stride in advancing human-like path planning for biped robots maneuvering through intricate hospital settings. The emphasis on accurate object identification stands as a linchpin for guaranteeing the robot's secure traversal. Significance: The integration of Yolov8 substantially augments the biped robot's capacity to precisely detect small objects, thereby mitigating collision risks and potential damage. Moreover, the successful application of the SARSA algorithm in planning obstacle-free paths within complex hospital environments holds promise for augmenting real-world robot navigation, especially in sensitive environments like hospitals.

show abstract

Conceptual design and simulation study of an autonomous indoor medical waste collection robot

Cited by 3 publications

References 31 publications

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Improved Path Planning Algorithm Based on EB-RRT and APF

Yolo Based Vision-Aided Obstacles Navigation and Avoidance with Path Planning using Sarsa Algorithm for Biped Robot in an Uncertain Hospital Environment

Contact Info

Product

Resources

About