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Path Tracking for a Differential-Drive Robot Applied in the Automatic Disinfection of Hospital Environments
Seguimiento de ruta para un robot de guiado diferencial aplicado en la desinfección auto-mática de entornos hospitalarios
DOI:
https://doi.org/10.15446/ing.investig.111403Keywords:
hospital disinfection, mobile robotics, path tracking, robot positioning with scanners, ROS (en)desinfección hospitalaria, robótica móvil, seguimiento de ruta, posicionamiento robótico con escáner, ROS (es)
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Since the end of the COVID-19 emergency was declared, the development and implementation of robotic systems aimed at mitigating exposure to the virus or to similar diseases has increased. This work proposed a simulation algorithm aimed at automatic route tracking for a differential-drive mobile robot in the disinfection of hospital environments, using scanners as proximity sensors. Furthermore, to validate the route-tracking algorithm, scenarios were created in the robot operating system (ROS), which were based on the floor plans of two healthcare institutions in the Tolima region (Colombia), i.e., the Emergency Room and the Coronary Intensive Care Unit of the Tolima Clinic and the Neonatal Intensive Care Unit of the Maternal and Child Health Unit of Tolima. For validation, route tracking was first performed automatically using the proposed algorithm. Then, the computer keyboard was used to perform manual tracking, simulating a joystick within a real robotic implementation. Five tests were conducted for each scenario, with better results obtained through automatic tracking, demonstrating the efficiency of this methodology.
Desde que se declaró el fin de la emergencia por COVID-19, se ha incrementado el desarrollo y la implementación de sistemas robóticos enfocados a mitigar la exposición al virus o a enfermedades similares. En este trabajo se propuso un algoritmo de simulación orientado al seguimiento automático de rutas para un robot móvil de guiado diferencial en la desinfección de ambientes hospitalarios, utilizando el escáner como sensor de proximidad. Además, para validar el algoritmo de seguimiento de rutas, se crearon escenarios en el sistema operativo robótico (ROS), con base en los planos de dos instituciones de salud de la región del Tolima (Colombia), i.e., Urgencias y la Unidad Coronaria de Cuidados Intensivos de la Clínica Tolima y la Unidad de Cuidados Intensivos Neonatal de la Unidad Materno Infantil del Tolima. Para la validación, el seguimiento de las rutas se realizó primero de forma automática con el algoritmo propuesto. Luego se empleó el teclado del computador para realizar un seguimiento manual, simulando un joystick en una implementación robótica real. Se realizaron cinco pruebas para cada escenario, obteniendo mejores resultados mediante el seguimiento automático, lo que comprueba la eficiencia de esta metodología.
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Copyright (c) 2025 Diana Lorena Gómez Lasso, Juan Sebastián Cardozo Ramos, David Alejandro Ramírez Gámez, Mauricio Jaramillo Morales
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