Abstract
Background
To alleviate the workload of medical staff and provide personalized care for hepatitis patients, this study focuses on developing a hepatitis care robot.
Objective
The objective of this study is to integrate the RP-lidarA1 sensor into a hepatitis care robot to achieve high-precision environmental perception, mapping, and navigation, thereby improving healthcare services.
Methods
The RP-lidarA1 sensor was utilized for environmental scanning, and the MPU6050 chip was used to collect attitude data. An improved RBPF-SLAM algorithm was employed for high-precision map construction. For positioning and navigation, a combination of the A* algorithm and Dynamic Window Approach (DWA) algorithm was used to optimize path planning and obstacle avoidance.
Results
Simulation experiments demonstrated that the improved algorithm reduced the number of particles to 50 in a 140 m2 area and shortened the map construction time to 1200 s. The A* algorithm effectively planned optimal paths, while the DWA algorithm improved navigation efficiency. Satisfaction surveys indicated that 92.4% of hepatitis patients and 81.8% of nurses were highly satisfied with the robot's performance.
Conclusions
The hepatitis care robot integrating the RP-lidarA1 sensor showed excellent performance in autonomous navigation, map construction, and obstacle avoidance, significantly enhancing the quality and efficiency of medical services.
Get full access to this article
View all access options for this article.