Nam, T.Q. and Tien, H.V. and Van, N.A. and Dinh Quan, N. (2023) Development of an Autonomous Mobile Robot System for Hospital Logistics in Quarantine Zones. In: International Conference on Intelligent Systems and Network, ICISN 2023, 18 March 2023 Through 19 March 2023, Hanoi.
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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. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Faculties > Faculty of Aerospace Engineering |
| Identification Number: | 10.1007/978-981-99-4725-6₃₄ |
| Uncontrolled Keywords: | Closed loop control systems; Computer architecture; Deep learning; Health risks; Hospitals; Indoor positioning systems; Mobile robots; Network architecture; Remote control; Risk management; Robot Operating System, Autonomous Mobile Robot; Frontline; Hospital logistics; Indoor localization; Indoor navigation; Mobile robot systems; Observation systems; Remote-control stations; Wireless communications networks; Workers', Navigation |
| Additional Information: | Conference of Proceedings of the International Conference on Intelligent Systems and Network, ICISN 2023; Conference Date: 18 March 2023 Through 19 March 2023; Conference Code:299689 |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/10951 |
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