An Autonomous Mobile Robot Platform for Medical Purpose

An autonomous mobile robot is a mobile robot that can execute a path-plan autonomously to perform certain behaviors or tasks. This paper presents the hardware overview consist of mechanical design, motion control system, and modular subsystem of ROM20. ROM20 is an autonomous mobile robot platform that is being developed at the Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM-LIPI) for medical purpose. ROM20 uses four stepper motors connected to four mecanum wheels. The motion control system is based on UART serial communication on each pin TX and RX of two microcontroller and bluetooth module. On top of the ROM20 is the modular which can be replaced with several subsystems such as Ultraviolet type C (UVC) lamp irradiation, disinfectant mist sprayer, and food delivery warmer. ROM20 can be controlled via bluetooth communication with a distance up to 22 meters. The space used by ROM20 for maneuver in any directions is around 63 cm × 63 cm of square tile.