Autonomous Robot Adopting Multi-Axis Robotic Arm and ACO Algorithm

Abstract

The autonomous robot being introduced aims to facilitate activities in hospitals, especially in the isolation wards, and bio/chemical laboratories. The text begins with introducing the parallelogram design of the robot, which permits 3 degrees of freedom (DoF), comprising 2 translational axes and 1 rotational axis. Macanum wheels provide high maneuverability and dexterity regarding robot motion, and its dynamic kinematic analysis is encompassed in the passage. Then, the essay specifically explains the methodology for testing the robot’s path-planning competence. Adopted by the robot, ant colony optimization (ACO) is a route-planning algorithm that has strong potential. It can deal with convoluted map configurations and has the value of incorporating advanced route planning and mapping technologies including SLAM. The essay then displays and analyzes the results from the test runs by inserting ACO into the route planning of a hospital map. Finally, the essay elicits the challenges and discusses the opportunities that the technologies being applied and how can the entire robot design be elaborated for a higher investigation value.