ROS Based Autonomous Disinfectant Mobile Robot for Hospitals

Abstract

This paper presents a design of an autonomous mobile robot system, primarily focuses on hospital environments, which focuses on disinfecting the hospital's isolation ward. This paper also primarily concentrates on making this system cost efficient with minimalistic sensors. This system consists of an advance autonomous indoor navigating mobile robot and a ground station, LIDAR, an UVC disinfectant lamp, encoder motors, IMU, etc. and uses ROS to navigate in indoor autonomously, the hospital environment is a busy environment so this paper equally concentrates on dynamically environment navigation, path planning based on global planner algorithms, localisation and navigation is done using particle filter, dwa_local_planner, navfn. The autonomous mobile robot system has been tested and simulated whose results are reliable and efficient.