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Optimal Path

This document discusses the optimization of path planning for a sanitization robot, focusing on the importance of effective path planning for UV-C disinfection. It reviews existing algorithms, identifies unique challenges, and proposes a new algorithm that incorporates UV-C constraints and multi-objective optimization. The study includes simulation results and highlights the potential for real-time AI-driven adjustments in future implementations.

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Charles Contridas
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4 views3 pages

Optimal Path

This document discusses the optimization of path planning for a sanitization robot, focusing on the importance of effective path planning for UV-C disinfection. It reviews existing algorithms, identifies unique challenges, and proposes a new algorithm that incorporates UV-C constraints and multi-objective optimization. The study includes simulation results and highlights the potential for real-time AI-driven adjustments in future implementations.

Uploaded by

Charles Contridas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Algorithmic Study on Optimal Path Planning for a Sanitization Robot

1. Introduction

o Overview of the project shift: from building a robot to optimizing its path

o Importance of effective path planning in sanitization efficiency

o Key constraints: UV-C bulb requirements, surface coverage, time efficiency

2. Background and Literature Review

o Existing Path Planning Algorithms

 Overview of standard methods (Dijkstra’s, A*, RRT, etc.)

 Their advantages and limitations for sanitization robots

o Unique Challenges for UV-C Sanitization

 Light intensity and exposure time requirements

 Optimal distance from surfaces to ensure proper disinfection

 Field of view (FOV) and coverage area of UV-C bulbs

o Gaps in Current Research

 Lack of algorithms specific to light-based sanitization

 Need for real-time adjustments in response to obstacles and environmental


factors

3. Mathematical Model for UV-C Exposure

o UV-C Intensity Equation

 Relationship between distance, exposure time, and disinfection


effectiveness

 Inverse square law for light intensity

o Coverage Geometry
 Beam angle and how it affects the area covered

 Shadowing effects and required adjustments

o Exposure Time Calculation

 Dose-response relationship for different pathogens

 Motion constraints to maintain adequate exposure

o Modeling UV-C Rays with Partial Differential Equations (PDEs)

 Mathematical representation of UV-C light propagation

 Computational methods for solving PDEs in a path-planning context

4. Proposed Path Planning Algorithm

o Constraints and Assumptions

 Room dimensions, obstacles, and robot speed

 Battery life considerations

o Algorithm Design

 Adaptation of existing algorithms with UV-C constraints

 Graph-based vs. sampling-based methods

o Mathematical Formulation

 Cost functions for efficiency (shortest path vs. maximum coverage)

 Optimization techniques (dynamic programming, reinforcement learning,


etc.)

o Multi-Objective Optimization

 Simultaneous optimization for energy, time, and coverage using Pareto


fronts

o Probabilistic Roadmaps vs. RRT vs. Sensor-Based Reactive Methods


 Comparison of different approaches for adaptive navigation

 Suitability for dynamic environments and real-time adjustments

5. Simulation and Validation

o Test Scenarios

 Different room layouts and obstacle placements

 Comparing standard vs. optimized paths

o Performance Metrics

 Path length, time efficiency, and disinfection effectiveness

 Trade-offs between speed and sanitization quality

o Results and Adjustments

 Fine-tuning the algorithm based on simulation outcomes

6. Conclusion and Future Work

o Summary of findings and improvements over traditional methods

o Real-world implementation considerations

o Potential for AI-driven real-time optimization

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