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JPMDP: Joint base placement and multi-configuration path planning for 3D surface disinfection with a UV-C robotic system

文献类型：期刊论文

作者Zhang, Chenyu1,2; Qin, Haohao2; Sun, Shiying2; Pan, Yi1,2; Liu, Kuan1,2; Li, Tao3; Zhao, Xiaoguang2
刊名ROBOTICS AND AUTONOMOUS SYSTEMS
出版日期2024-04-01
卷号174页码:13
关键词Mobile manipulator Coverage planning Base position optimization Disinfection
ISSN号0921-8890
DOI10.1016/j.robot.2024.104644
通讯作者Sun, Shiying(sunshiying2013@ia.ac.cn)
英文摘要To effectively mitigate the spread of epidemics, disinfection robots are increasingly utilized for automatic disinfection. However, tradition robots and disinfection methods cannot ensure controllable disinfection coverage, potentially causing damage to sensitive surfaces and humans. In this paper, we introduce a novel Ultraviolet -C disinfection robot system built on the mobile manipulator structure. We propose a new multi -side disinfection end -effector to broaden the disinfection scope and improve adaptability to complex surfaces. In order to coordinate the movements of the base and manipulator, we propose a joint base placement and multi -configuration disinfected path planning(JPMDP) method. The algorithm generates the minimal number of mobile base placements and forms the disinfection path with the shortest working time. We have conducted extensive experiments in both simulated and real environments. Experimental results demonstrate that our system offers more comprehensive coverage in less time compared to traditional strategies, making it more efficient and adaptable to complex environments.
WOS关键词GENETIC ALGORITHM ; COVERAGE
资助项目National Key R&D Program of China[2021ZD0140409] ; National Natural Science Foundation of China[62203438] ; National Natural Science Foundation of China[62103410] ; Independent Research Project of Medical Engineering Laboratory of Chinese PLA General Hospital, China[2022SYSZZKY12]
WOS研究方向Automation & Control Systems ; Computer Science ; Robotics
语种英语
WOS记录号WOS:001196646900001
出版者ELSEVIER
资助机构National Key R&D Program of China ; National Natural Science Foundation of China ; Independent Research Project of Medical Engineering Laboratory of Chinese PLA General Hospital, China
源URL[http://ir.ia.ac.cn/handle/173211/58052]  
专题智能机器人系统研究
通讯作者Sun, Shiying
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Inst Automat, Chinese Acad Sci, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
3.Chinese Peoples Liberat Army Gen Hosp, Med Artificial Intelligence Res Ctr, Dept Med Innovat Res, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Chenyu,Qin, Haohao,Sun, Shiying,et al. JPMDP: Joint base placement and multi-configuration path planning for 3D surface disinfection with a UV-C robotic system[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2024,174:13.
APA Zhang, Chenyu.,Qin, Haohao.,Sun, Shiying.,Pan, Yi.,Liu, Kuan.,...&Zhao, Xiaoguang.(2024).JPMDP: Joint base placement and multi-configuration path planning for 3D surface disinfection with a UV-C robotic system.ROBOTICS AND AUTONOMOUS SYSTEMS,174,13.
MLA Zhang, Chenyu,et al."JPMDP: Joint base placement and multi-configuration path planning for 3D surface disinfection with a UV-C robotic system".ROBOTICS AND AUTONOMOUS SYSTEMS 174(2024):13.

入库方式： OAI收割

来源：自动化研究所

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