Map-based Robot Navigation System for Medical Setting



Cheng, Guan Jie (2020) Map-based Robot Navigation System for Medical Setting. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Robotic technologies had been advancing from time to time. Many researchers did a lot of researches to improve the robotic technologies in order to aid human by reducing the workload. In this research, it will focus on the mobile robot navigation system in an indoor environment. Many people face problem in lost direction while going to a location. For an example, patients and visitors will lost direction in hospital while looking for a particular department. This is can be solved by introducing the navigation system. The purpose of the navigation system is to provide direction to the people to move to the location in a correct path. In order to provide direction to the people, robotic technologies can be implemented in this solution. A mobile robot navigation system can escort people to move from one location to another location physically. A mobile robot navigation system is built up by sensors and 2 sub-systems which known as the localisation system and path planning. The function of localisation system is to allow the mobile robot to know its position in an environment while the function of path planning is to determine the available and shortest distance to move from one position to another position. Therefore, the proposed solution for the problem mentioned above is by building a navigation system with mobile robot. In this research, the localisation system that will be use is positioning beacon system which will utilise the technology of passive Radio Frequency Identification (RFID) in combination with odometry. Next, the path planning algorithm will be applied in this research is known as A* Algorithm. In order to validate that the proposed solution can achieve research’s objectives, 3 simulations and 2 experiments had been conducted. The software simulation experiments were done by using IDE while the physical experiments were conducted with a scaled-down structural model of real hospital setting. From the experiments, the average success rate had been recorded and the algorithms designed in this research had been validate. For software simulated experiments, the results obtained had achieved 100% which also validate that the algorithms designed in this research can be function. However, the physical experiments had different results compared to the software simulated experiments. The average success rate for mobile robot without using RFID 66 % while the average success rate for mobile robot with using RFID and encoder is 11.75%. The mobile robot had some limitations which caused the average success rate low. However, future improvement can be done in order to improve the mobile robot and increase the success rate of using these algorithms in real physical world.

Item Type: Final Year Project
Subjects: Technology > Electrical engineering. Electronics engineering
Technology > Mechanical engineering and machinery > Robotics
Faculties: Faculty of Engineering and Technology > Bachelor of Mechatronics Engineering with Honours
Depositing User: Library Staff
Date Deposited: 29 Apr 2020 16:39
Last Modified: 29 Apr 2020 16:39