Abstract
AbstractAutonomous mobile robots are being used for disinfection tasks as an alternative to reduce the exposure of cleaning personnel. In this article a new mobile robot manipulator is introduced for disinfection, by means of a fog generator. The robot consists of a differential drive platform and a two degrees of freedom (DoF) arm which is used to handle a fogging nozzle. For this nozzle a coverage path and a trajectory in the configuration space of the robot needs to be planned. Thus, this work presents a solution to the trajectory planning problem for kinematic control of a predefined end effector path of our disinfection robot, based on the application of a Non Dominated Sorting Genetic Algorithm (NSGA-II), for optimization of energy and smoothness functions for the joint motions. It is assumed that in a previous stage the coverage path planning (CPP) problem was solved. However, a discussion is also presented on the different methods that could be used for CPP.
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