Development of Autonomous Driving and Motion Control System for a Patient Transfer Robot

Abstract

In this study, an autonomous driving system of a patient-transfer robot is developed. The developed autonomous driving system has a path-planning module and a motion-control module. Since the developed autonomous driving system is applied to medical robots, such as patient-transfer robots, the main purpose of this study is to generate an optimal path for the robot’s movement and to ensure the patient on board moves comfortably in the PTR. In particular, for the patient’s comfortable movement, a lower controller is needed to minimize the sway angle of the patient. In this paper, we propose a hybrid path-planning algorithm that combines the A-STAR algorithm as a global path-planning method and the AHP (Analytic Hierarchy Process)-based path-planning algorithm as a local path-planning method. In addition, model-based controllers are designed to move patient-transport robots along planned paths. In particular, the LQR controller with the Kalman filter is designed to be robust to the uncertainty and disturbance of the model including the patient. The optimal path generation and patient shaking angle reduction performance of the proposed autonomous driving system have been demonstrated via a simulation on a map that mimics a hospital environment.

Universal design and social care: Assistive robots as other users of the built environment?

“…Putting human safety first, it is important to test the transfer of a dependent human in the context of assistive robots' centre of gravity retention. Several experiments with such robots show effective real-time imitation and dynamic behaviour adaptation (Arduengo, Arduengo, Colomé, Lobo-Prat, Torras, 2021); optimal motion also in relation to the gravitational acceleration is being calculated (Kim, Kim, 2023). However, it is an active area of research and development, and any type of a new assistive robot that carries people must first pass stability tests.…”