Design of 2D LiDAR-based Indoor SLAM for Medical Robot Covid-19

Abstract

Intelligent robot equipped with autonomous navigation system demand has been increased since Covid-19 pandemic to implement physical distancing among humans. To have autonomous navigation capability, the robot needs to be able to do mapping and use the map to navigate around the hospital. Mapping is performed in two unique places to simulate various hospital environments. Map results were then compared between the measurement on Rviz and the actual measured place. The system is proved accurate at 96% in the first place and 97% in the second place.