UV表面消毒のための最適化カバレッジ計画
Optimized Coverage Planning for UV Surface Disinfection
移動型UV消毒ロボットのための、各表面に十分な照射量を確保しつつ照射時間効率を最適化する近最適カバレッジ計画手法を提案し、GPU計算と2段階近似で衝突・遮蔽を考慮した軌道と照射計画を生成する。
著者: Joao Marcos Correia Marques, Ramya Ramalingam, Zherong Pan, Kris Hauser
分類: cs.RO, cs.AI
原文アブストラクト
UV radiation has been used as a disinfection strategy to deactivate a wide range of pathogens, but existing irradiation strategies do not ensure sufficient exposure of all environmental surfaces and/or require long disinfection times. We present a near-optimal coverage planner for mobile UV disinfection robots. The formulation optimizes the irradiation time efficiency, while ensuring that a sufficient dosage of radiation is received by each surface. The trajectory and dosage plan are optimized taking collision and light occlusion constraints into account. We propose a two-stage scheme to approximate the solution of the induced NP-hard optimization, and, for efficiency, perform key irradiance and occlusion calculations on a GPU. Empirical results show that our technique achieves more coverage for the same exposure time as strategies for existing UV robots, can be used to compare UV robot designs, and produces near-optimal plans. This is an extended version of the paper originally contributed to ICRA2021.
