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

摘要： 考虑在突发重大公共卫生事件期间存在的医疗物资搬运工作强度大、交叉传播风险高等问题,提出一种节能、安全且通用的移动医疗机器人无碰撞路径规划方法。首先,通过建立某方舱医院栅格地图环境模型,表征机器人自主移动过程的能量消耗指标,改进A*算法原始搜索方向,构建了一种计及能量因素的邻接矩阵优化策略。然后提出一种邻接矩阵权值算子,融合权值算子和安全避障惩罚因子到A*算法的估价函数中。同时,提出一种基于三次连续贝塞尔曲线的路径平滑方法,用于方舱医院栅格地图中生成曲率连续的平滑路径。仿真结果验证了所提方法的适用性,相较于传统路径规划方法,该方法具备节能性、安全性和平滑性特征,有效降低了医疗运输成本。

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