• Our Lab
    • About
    • Research Themes
    • Gallery
    • Exhibitions
    • Workshops >
      • Workshop Info
      • FAQ
    • Intern Diaries
  • Projects
    • Flagship Projects
    • Summer Projects
  • Publications
  • Our Team
    • Professor Incharge
    • Alumni >
      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
    • Junior Year Coordinators
  • Contact
  • Spin-offs
    • Makxenia
    • AidBots
  • Intranet
IvLabs
  • Our Lab
    • About
    • Research Themes
    • Gallery
    • Exhibitions
    • Workshops >
      • Workshop Info
      • FAQ
    • Intern Diaries
  • Projects
    • Flagship Projects
    • Summer Projects
  • Publications
  • Our Team
    • Professor Incharge
    • Alumni >
      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
    • Junior Year Coordinators
  • Contact
  • Spin-offs
    • Makxenia
    • AidBots
  • Intranet

Sahayak- An Autonomous COVID Bot

Welcome, you are visitor number
web counter free

Introduction

Medical personnel regularly put themselves at risk of infection to protect patients, a fact that everyone has been acutely aware of during the COVID-19 pandemic. Development of an autonomous robot for hospital environment aiming to reduce the risk of the health care workers at their work has exponentially increased in the ongoing pandemic.  Sahayak, a COVID aid bot that is capable of navigating autonomously in simulated static environments. The aim is to provide a general framework for developing medical assistive robots.  A prototype of Sahayak was successfully deployed at AIIMS Nagpur.  

Mechanical Design

  • To enable smooth motion, a 4-wheel drive design was adopted. Sahayak has a payload capacity of 20 Kg and is driven by four planetary DC geared motors.
  • It also includes heavy-duty disc wheels and 20Ah lithium-ion battery to power the motors.
  • The prototype of Sahayak included a Jetson Nano for computation.
  • A A2M8 2D LiDAR  and an Intel RealSense R200 was mounted on the model. 

Previous Work

S​​ahayak v1:
  • Sahayak v1 started as a simple 4 wheel drive which was teleoperated using a remote control
Sahayak v2:
  • The new version had improved motors, ability to carry over 20kg payload and other facilities such as Video Conferencing.
  • It was successfully deployed at AIIMS Nagpur. 
​
Picture
​

Pipeline Overview

Picture
Pipeline

Visual Odometry

Picture

  • Visual Odometry was computed through 3D-2D and 3D-3D motion estimation methods by using a sparse optical flow-based feature tracking approach. 
  • This odometry information was fused with the IMU readings using an Extended Kalman Filter (EKF).

Visual Odometry
  
Mapping was done in 2 ways
  • 3D mapping done using RTAB mapping
  • 2D mapping was done using Hector SLAM and GMapping packages.
Picture
           
​​   

Real-Time Appearance-Based mapping
Picture
  • As 3D localization and Motion planning was not required 2D grid map was required
  • Dijkstras Algorithm was used as Global Planner
  • Dynamic Window Approach (DWA) planner was used as Local Planner.
  • This came bundled in Nav Stack

                                                   Motion Planning Using Nav-Stack

​

​

​
GitHub

Team

Karthik Raman
Prathamesh RInge
Sania Subhedar
Sushlok Shah
Yagnesh Devada
Aayush Fadia
Kushagra Srivastva
Varad Vaidya
Harshad Zade
Anshul Paigwar
Ajinkya Kamat

Powered by Create your own unique website with customizable templates.
  • Our Lab
    • About
    • Research Themes
    • Gallery
    • Exhibitions
    • Workshops >
      • Workshop Info
      • FAQ
    • Intern Diaries
  • Projects
    • Flagship Projects
    • Summer Projects
  • Publications
  • Our Team
    • Professor Incharge
    • Alumni >
      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
    • Junior Year Coordinators
  • Contact
  • Spin-offs
    • Makxenia
    • AidBots
  • Intranet