关键词: 移动医疗机器人, 节能路径规划, 改进A*算法, 邻接矩阵, 安全惩罚因子

Abstract: Considering the high work intensity of the medical supplies handling and the high risk of cross-infection or disease transmission during major public health emergencies,an energy-efficient,safe,and generalized collision-free path planning method was presented for mobile medical robots.By establishing the grid map environment of a square cabin hospital,the energy-consumption index was represented and the original search direction of  A*  algorithm was improved,thus an energy-based adjacency matrix optimization strategy was constructed.Then,an adjacency matrix weight operator was proposed,and the weight operator and the safety obstacle avoidance penalty factor were integrated into the evaluation function of  A*  algorithm.In addition,a path smoothing method based on a cubic continuous Bezier curve was proposed to generate a smooth path that has continuous curvature in the grid map of the square cabin hospital.Simulation results demonstrated that the proposed energy-efficient path planning method for the safe transportation of medical devices in hospitals had higher energy-saving efficiency and smoothness than other conventional methods,which effectively reduced the cost of manual transportation.

Key words: mobile medical robot, energy-efficient path planning, improved , A* algorithm, adjacency matrix, safety penalty factor