Designing a Transporter Mobile Robot for the WorldSkills Competition 2022 Using a Finite-State Machine Approach

This paper delves into the progress made in robots in competitive environments such as the WorldSkills Competition (WSC) for Mobile Robotics. The 2022 WSC focused on hospital service robots. It assigned them responsibilities, including sorting medications, delivering items to patient rooms, inspecting medical waste and moving patient gurneys. We introduce a mobile robot that utilizes three omni wheels for seamless movement in all directions. Noteworthy features of this robot include a manipulator arm and gripper for handling objects, a storage space capable of accommodating three medicine cubes and the ability to transport gurneys simultaneously. The robot employs LabVIEW as its programming medium to control its operations within a defined mission area effectively. It is equipped with the myRIO microcontroller. The Finite State Machine (FSM) approach was chosen due to its relevance to the robot's tasks and functions.