Design of an intelligent hospital service robot and its applications

Author

Shieh, M.Y. ; Hsieh, J.C. ; Cheng, C.P.

Author_Institution

Dept. of Electr. Eng., Southern Taiwan Univ. of Technol., Tainan, Taiwan

Volume

5

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

4377

Abstract

The paper presents the design concepts of an intelligent hospital service robot (IHSR). The IHSR aims at saving human resources and also improving the hospital service. The navigation path planning can be concluded by an information decision making system. It is decided from the distribution of people in the hospital. For obstacle avoidance, the IHSR mounts a CCD camera and its attachments to determine the relative directions of obstacles. There are nine ultrasonic sensors installed on the IHSR to detect the distances between the IHSR and obstacles. An integrated fuzzy controller is proposed as the collision-free navigation control system. In which, there are two fuzzy subcontrollers designed for objective navigation and collision-free control respectively. Simulation results show that the IHSR is indeed able to accomplish navigation control in hospital environment.

Keywords

CCD image sensors; collision avoidance; decision making; fuzzy control; intelligent robots; mobile robots; navigation; service robots; CCD camera; collision-free navigation control system; fuzzy subcontrollers; human resources; information decision making system; integrated fuzzy controller; intelligent hospital service robot design; navigation path planning; objective navigation; obstacle avoidance; ultrasonic sensors; Charge coupled devices; Control systems; Decision making; Fuzzy control; Hospitals; Humans; Intelligent robots; Navigation; Path planning; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1401220

Filename

1401220