| Abstrakt: |
A telemedicine robot is an interesting task to develop. The difficulty, incomplete prior knowledge of the environment, and unexpected situations set strict necessities for both the hardware and software components of the robot. The robot should also have the ability to perceive and to handle inaccurate and imprecise sensors. Finally, the robot needs also to achieve high level and complex goals with an imperfect actuator at a limited time and fast response. Several robotics architectures have been proposed that try to cope with the above problems. Most of the architectural style described in the technical literature can be classified into four categories: reactive, deliberative, hybrid, and behavior-based control architecture. The behavior-based method has been established as a modern robot control architecture. The paper will propose the design and prototype of a telemedicine robot using behavior-based control architecture. The main purpose of this robot is to handle some action of medical processes and carriage several resources within the hospital to reduce risks in the hazardous zone. Several behaviors will design to assist the robot, namely: camera control behavior, robot control behavior, and obstacles avoidance behavior. Modeling and simulation of the robot with those behaviors have been performed and tested. After that, a prototype of a real robot also designed. The robot is built using ATmega2560, ESP01, motor drivers, and three ultrasonic sensors. Then the reading sensor results are processed to get the PWM value that corresponds to the distance of the legible barrier. Internet communication is used to control the robot remotely with Graphical User Interface (GUI) on computer devices. Based on some experiments performed, the behavior-based control architecture has a good performance for the telemedicine robot. The robot can do their tasks well, able to control remotely, seeing the situation with camera, and maneuver according to plan with velocity control to avoid colliding. [ABSTRACT FROM AUTHOR] |
