Development of an AGV robot based on ROS for disinfection in clinical environments

Abstract

The aim of this project was to develop a final degree project in the field of biomedical engineering that consisted in an AGV prototype for disinfection tasks inside a hospital or clinical environment. There were different parts inside the project, and the one reported in this documentation refers to the mobility of the robot using ROS (Robot Operating System) to develop nodes to make the robot move as an holonomic robot. An holonomic robot refers to systems with capabilities to slide directly sideways, which is very useful for complex spaces, as it can reach the objectives easier. Simulations were done in order to verify the code was working and once they were proved to be successful, the code was implemented into a small prototype for testing, whose characteristics and components are specified in this report. This was a complex step as several errors were reported, which caused a delay in the last activities, making it not possible to achieve implementing SLAM routines for mapping and trajectory planning. The other parts of the project consisted in designing and building a bigger prototype with air quality and ozone sensors and the development of the code for the sensors. These two parts were developed by two other engineering students.