COVID-19 has aggregated the need for a non-contact medical logistic system. A non-contact robot with self-navigation ability has greatly enhanced the efficiency of the medical logistic system. This paper aims to design a new medical logistics robot system for the complex environment of hospitals with dynamic obstacles.
Targeting a medical logistics robot system for a large-scale hospital environment, this study proposed a dynamic obstacle avoidance system to reduce the robot’s delay time as well as frequent route switching. In the algorithm, this study proposed a new loop closure detection with an artificial correction factor. Moreover, this study presented enhanced 3D object detection, improving detection accuracy in hospital environments.
Experimental results confirm that the robot can move along its global path and reach its destination without colliding with stationary or moving obstacles.
The medical logistics robot system has safe and stable performance in real hospital scenarios. The implementation verifies that the robot has effectiveness and reliability in both hardware and software design.
