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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. 
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Pipeline Overview

Pipeline

Visual Odometry

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  • 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.
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Real-Time Appearance-Based mapping
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  • 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

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Team

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

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