941 KB0 KB201420262021Banjanović-Mehmedović, LejlaJahic, J.Karabegović, IsakOmercic, M.letnik:16številka:4str. 405-417DOI:10.14743/apem2021.4.409ISSN:1854-6250COBISSID_HOST:270724355URN:URN:NBN:SI:doc-XEG1T96DenFakulteta za strojništvo, Inštitut za proizvodno strojništvoAdvances in production engineering and managementCOVID-19disinfection mobile robotDynamic Window Approach (DWA)mobilni robot za dezinfekcijooperacijski sistem robotaoptimal path planningoptimalno načrtovanje potioptimizacija roja delcevParticle Swarm Optimization (PSO)platforma, ki temelji na ROS-upristop dinamičnega oknaRobot Operating System (ROS)ROS-based platformSimultaneous Localization and Mapping (SLAM)sočasna lokalizacija in kartiranjeOptimal path planning of a disinfection mobile robot against COVID-19 in a ROS-based research platform|Due to COVID-19 pandemic, there is an increasing demand for mobile robots to substitute human in disinfection tasks. New generations of disinfection robots could be developed to navigate in high-risk, high-touch areas. Public spaces, such as airports, schools, malls, hospitals, workplaces and factories could benefit from robotic disinfection in terms of task accuracy, cost, and execution time. The aim of this work is to integrate and analyse the performance of Particle Swarm Optimization (PSO) algorithm, as global path planner, coupled with Dynamic Window Approach (DWA) for reactive collision avoidance using a ROS-based software prototyping tool. This paper introduces our solution – a SLAM (Simultaneous Localization and Mapping) and optimal path planning-based approach for performing autonomous indoor disinfection work. This ROS-based solution could be easily transferred to different hardware platforms to substitute human to conduct disinfection work in different real contaminated environmentsTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Mariboru, Fakulteta za strojništvo