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Modelling a TurtleBot3 Based Delivery System for a Smart Hospital in Gazebo

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dc.contributor.author Safin R.
dc.contributor.author Lavrenov R.
dc.contributor.author Hsia K.H.
dc.contributor.author Maslak E.
dc.contributor.author Schiefermeier-Mach N.
dc.contributor.author Magid E.
dc.date.accessioned 2022-02-09T20:46:06Z
dc.date.available 2022-02-09T20:46:06Z
dc.date.issued 2021
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/170145
dc.description.abstract The design of a "smart hospital"environment is described in this paper. Mobile ground robots perform transportation tasks between multiple stations located in different rooms while navigating in an environment with moving objects such as humans and other mobile robots. The robot is equipped with a distance sensor (LIDAR), based on the indicators of which objects are detected and the robot is localized. Robots can be assigned tasks to be executed through a centralized interface. Tasks are assigned to a specific robot, and, depending on the type of task, the robot is autonomously directed to the station associated with the task in the building. We are considering the concept of defining possible robot behaviors as a finite set of states with certain transitions. To test the system, a hospital map was constructed in a Gazebo simulation.
dc.subject Hospital service robot
dc.subject path planning
dc.subject robot navigation
dc.subject service robots
dc.subject task-based robotic system
dc.title Modelling a TurtleBot3 Based Delivery System for a Smart Hospital in Gazebo
dc.type Conference Proceeding
dc.collection Публикации сотрудников КФУ
dc.source.id SCOPUS-2021-SID85103187058


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  • Публикации сотрудников КФУ Scopus [24551]
    Коллекция содержит публикации сотрудников Казанского федерального (до 2010 года Казанского государственного) университета, проиндексированные в БД Scopus, начиная с 1970г.

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