Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)(2021)
摘要
Regular irradiation of indoor environments with ultraviolet C (UVC) light has become a regular task for many indoor settings as a result of COVID-19, but current robotic systems attempting to automate it suffer from high costs and inefficient irradiation. In this paper, we propose a purpose-made inexpensive robotic platform with off-the-shelf components and standard navigation software that, with a novel algorithm for finding optimal irradiation locations, addresses both shortcomings to offer affordable and efficient solutions for UVC irradiation. We demonstrate in simulations the efficacy of the algorithm and show a prototypical run of the autonomous integrated robotic system in an indoor environment. In our sample instances, our proposed algorithm reduces the time needed by roughly 30% while it increases the coverage by a factor of 35% (when compared to the best possible placement of a static light).
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关键词
standard navigation software,optimal irradiation locations,UVC irradiation,autonomous integrated robotic system,path planning,indoor ultraviolet light disinfection,regular irradiation,ultraviolet C light,COVID-19,purpose-made inexpensive robotic platform
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