Evaluation of a local path-planning algorithm for a hospital located autonomous mobile robot

This paper describes the development of a behaviour based control system for use on an autonomous mobile robot operating in a hospital or a healthcare facility. The paper explores the development of a local object detection and avoidance control strategy that complements a higher level path planning algorithm. We discuss the optimal location for placement of the robots navigation sensors. Results from testing the control strategy in a corridor are presented and discussed. Finally, the computational performance of the system is evaluated.