'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
In hospitals, typical tasks of delivering goods between
different locations are usually done by auxiliary staff.
With the development of robotic technologies, such tasks can
be performed by mobile robots releasing the staff effort to other
tasks. In order to successfully complete the tasks of delivering
goods inside hospitals, mobile robots should be able to generate
trajectories free of collisions. In addition, including timing
constraints to the generated trajectories has not been addressed
in most current robotic systems, and it is critical in robotic
tasks as human-robot interaction. Including timing constraints
means to obey to the planned movement time, despite diversified
environmental conditions or perturbations. In this paper we aim
to develop a navigation architecture with timing constraints based
on a mesh of nonlinear dynamical systems and feedthrough maps
for wheeled mobile robots. A simulated hospital environment
and a wheeled robot pioneer 3-DX are used to demonstrate
the robustness and reliability of the proposed architecture in
cluttered, dynamic and uncontrolled hospital scenarios