Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection

被引：14

作者：

Conroy, Jonathan ^{[1
]}

Thierauf, Christopher ^{[1
]}

Rule, Parker ^{[1
]}

Krause, Evan ^{[1
]}

Akitaya, Hugo ^{[2
]}

Gonczi, Andrei ^{[1
]}

Korman, Matias ^{[3
]}

Scheutz, Matthias ^{[1
]}

机构：

[1] Tufts Univ, Medford, MA 02155 USA

[2] Univ Massachusetts Lowell, Lowell, MA USA

[3] Siemens Elect Design Automat, Wilsonville, OR USA

来源：

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) | 2021年

关键词：

D O I：

10.1109/ICRA48506.2021.9561405

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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).

引用

页码：7795 / 7801

页数：7

共 21 条

[1]

Balakrishnan V., 1991, International Journal of Robust and Nonlinear Control, V1, P295, DOI 10.1002/rnc.4590010404

[2] Programmable and low-cost ultraviolet room disinfection device [J].

Bentancor, Marcel ;

Vidal, Sabina .

HARDWAREX, 2018, 4

[3] An ICP variant using a point-to-line metric [J].

Censi, Andrea .

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, :19-25

[4]

Chitta S, 2017, J OPEN SOURCE SOFTW, DOI [10.21105/joss.00456, DOI 10.21105/JOSS.00456]

[5]

Derraik J. G. B., 2020, RAPID EVIDENCE SUMMA, DOI [10.1101/2020.04.02.20051409, DOI 10.1101/2020.04.02.20051409]

[6]

Dey T. K., 2004, HDB DISCRETE COMPUTA, P677

[7]

Douglas D. H., 1973, Cartographica, V10, P112, DOI [DOI 10.3138/FM57-6770-U75U-7727, 10.3138/FM57-6770-U75U-7727]

[8] BOUNDED-CURVATURE SHORTEST PATHS THROUGH A SEQUENCE OF POINTS USING CONVEX OPTIMIZATION [J].

Goaoc, Xavier ;

Kim, Hyo-Sil ;

Lazard, Sylvain .

SIAM JOURNAL ON COMPUTING, 2013, 42 (02) :662-684

[9]

Gribov A., 2015, ABS150406584 CORR

[10]

Grisetti G, 2005, IEEE INT CONF ROBOT, P2432

← 1 2 3 →