Research on Optimizing Omnidirectional Control Algorithms for Patient Care Nurse Robots
Published online: 23/04/2026
Corressponding author's email:
ltlong@hcmut.edu.vnDOI:
https://doi.org/10.54644/jte.2026.2018Keywords:
Nurse robot, Velocity smoothing, Autonomous navigation, Hospital environment, Service robotAbstract
This research aims to address the instability of localization and navigation systems in service robots operating at high speeds within hospital environments. Rapid fluctuations in velocity often induce mechanical vibrations that distort data from laser scanning sensors, leading to significant errors in map matching and positioning. To overcome this challenge, the paper proposes a method of integrating a first-order low-pass filter into the control loop to smooth linear and angular velocity signals before transmission to the actuators. The approach was experimentally validated using a differential drive nurse robot in a standard corridor scenario with incrementally increasing speed levels. The results demonstrate that the proposed solution significantly improves system reliability, particularly at a velocity of 0.9 meters per second. Specifically, the task completion rate increased substantially from 60% to 92%, while the failure rate in scan matching dropped sharply from 40% to 8%. These figures confirm that suppressing high-frequency components in control commands enhances data overlap, thereby stabilizing the localization process. This solution offers high practical efficiency with low computational cost, making it highly suitable for widespread deployment on autonomous medical robot platforms.
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