Wall Following and Obstacle Avoidance Control in Roisc-v1.0 (Robotic Disinfectant) using Behavior Based Control

A robot that can move independently is an essential aspect towards replacing humans in hazardous work conditions. This paper shows the development of a mobile robot called ROISC-v1.0 (Robotic Disinfectant), which executes the sterilizing procedure in the room using UV light with a wavelength of 222nm. The goal of this study is to create a wall-following navigation system with obstacle avoidance capabilities. The modeling of the behavior-based control method is used in the application of a navigation system, including wall following and obstacle avoidance so that the mobile robot can modify linear and angular speeds based on the course of motion. Behavior-based control is used to eliminate the robot's reliance on its work area conditioning. To identify the distance between the robot and the wall, as well as the existence of obstacles in the robot's work area, the ROISC-v1.0 robot uses array of 12 Lidar sensors type VL53L0X. As a result, the robot navigates successfully to follow the contours of the wall and avoiding static and dynamic obstacles. When there are no obstacles in the way, the ROISC-v1.0 robot can perform optimally and efficiently in a 4.5m x 2.8m work area with an average robot travel time of 73.4 seconds and an average robot distance of 880.4 cm. With an average travel time of 109 seconds and a distance of 1052.4 cm, the robot can perform optimally and efficiently in regions where there are obstacles. The VL53L0X ToF sensor, which uses light waves in the transmission process and has an average inaccuracy of 0.7cm, allows the robot to read bright objects more accurately. The ROISC-v1.0 robot is hoped to aid medical professionals as the result of this research, minimizing the impact of virus dissemination caused by the sterilization process.