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Publicação
Development of an autonomous mobile towing vehicle for logistic tasks
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Orientador(es)
Resumo(s)
Frequently carrying high loads and performing repetitive
tasks compromises the ergonomics of individuals, a recurrent scenario
in hospital environments. In this paper, we design a logistic planner of
a fleet of autonomous mobile robots for the automation of transporting
trolleys around the hospital, which is independent of the space configuration,
and robust to loss of network and deadlocks. Our robotic solution
has an innovative gripping system capable of grasping and pulling nonmodified
standard trolleys just by coupling a plate. Robots are able to
navigate autonomously, to avoid obstacles assuring the safety of operators,
to identify and dock a trolley, to access charging stations and
elevators, and to communicate with the latter. An interface was built
allowing users to command the robots through a web server. It is shown
how the proposed methodology behaves in experiments conducted at the
Faculty of Engineering of the University of Porta and Braga's Hospital.
Descrição
Palavras-chave
Mobile robot Autonomous driving Trolley docking Ergonomics
Contexto Educativo
Citação
Rocha, Cláudia; Sousa, Ivo; Ferreira, Francisco; Sobreira, Héber; Lima, José; Veiga, Germano; Moreira, A. Paulo (2020). Development of an autonomous mobile towing vehicle for logistic tasks. In 4th Iberian Robotics Conference, ROBOT 2019; Porto. p. 669- 681. ISBN 978-3-030-35989-8