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Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment
The effective disinfection of hospitals is paramount in lowering the COVID-19 transmission risk to both patients and medical personnel. Autonomous mobile robots can perform the surface disinfection task in a timely and cost-effective manner, while preventing the direct contact of disinfecting agents...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8006599/ https://www.ncbi.nlm.nih.gov/pubmed/33791341 http://dx.doi.org/10.3389/frobt.2021.624333 |
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author | Nasirian, B. Mehrandezh, M. Janabi-Sharifi, F. |
author_facet | Nasirian, B. Mehrandezh, M. Janabi-Sharifi, F. |
author_sort | Nasirian, B. |
collection | PubMed |
description | The effective disinfection of hospitals is paramount in lowering the COVID-19 transmission risk to both patients and medical personnel. Autonomous mobile robots can perform the surface disinfection task in a timely and cost-effective manner, while preventing the direct contact of disinfecting agents with humans. This paper proposes an end-to-end coverage path planning technique that generates a continuous and uninterrupted collision-free path for a mobile robot to cover an area of interest. The aim of this work is to decrease the disinfection task completion time and cost by finding an optimal coverage path using a new graph-based representation of the environment. The results are compared with other existing state-of-the-art coverage path planning approaches. It is shown that the proposed approach generates a path with shorter total travelled distance (fewer number of overlaps) and smaller number of turns. |
format | Online Article Text |
id | pubmed-8006599 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-80065992021-03-30 Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment Nasirian, B. Mehrandezh, M. Janabi-Sharifi, F. Front Robot AI Robotics and AI The effective disinfection of hospitals is paramount in lowering the COVID-19 transmission risk to both patients and medical personnel. Autonomous mobile robots can perform the surface disinfection task in a timely and cost-effective manner, while preventing the direct contact of disinfecting agents with humans. This paper proposes an end-to-end coverage path planning technique that generates a continuous and uninterrupted collision-free path for a mobile robot to cover an area of interest. The aim of this work is to decrease the disinfection task completion time and cost by finding an optimal coverage path using a new graph-based representation of the environment. The results are compared with other existing state-of-the-art coverage path planning approaches. It is shown that the proposed approach generates a path with shorter total travelled distance (fewer number of overlaps) and smaller number of turns. Frontiers Media S.A. 2021-03-15 /pmc/articles/PMC8006599/ /pubmed/33791341 http://dx.doi.org/10.3389/frobt.2021.624333 Text en Copyright © 2021 Nasirian, Mehrandezh and Janabi-Sharifi. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Nasirian, B. Mehrandezh, M. Janabi-Sharifi, F. Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment |
title | Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment |
title_full | Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment |
title_fullStr | Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment |
title_full_unstemmed | Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment |
title_short | Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment |
title_sort | efficient coverage path planning for mobile disinfecting robots using graph-based representation of environment |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8006599/ https://www.ncbi.nlm.nih.gov/pubmed/33791341 http://dx.doi.org/10.3389/frobt.2021.624333 |
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