Autonomous Mobile Robot for Environmental Quality Monitoring in Hospital
10.14416/j.ind.tech.2026.08.013
Keywords:
Indoor environmental quality, Autonomous mobile robot, Robot operating systemAbstract
Most hospitals are currently designed as enclosed buildings. Therefore, it is necessary to regularly monitor environmental quality to prevent pollution and health risks. This research presents the development of an autonomous mobile robot for monitoring indoor environmental quality in hospitals, to reduce the cost of installing numerous environmental quality monitoring devices to cover the entire area and to reduce human labor. The robot is equipped with environmental quality sensor and a touchscreen display and utilizes the open-source software ROS 2 for autonomous mapping, navigation, and obstacle avoidance. The experimental results showed that the environmental quality sensor worked well with the touchscreen display, and the measured parameters were within the manufacturer's specified range. Field testing in the hospital, the robot's capability to autonomously navigate to measurement points, return to its origin and display the measurement results accurately. The maximum average positional error was 0.16 m on the x-axis and 0.18 m on the y-axis. The acquired data can support hospital decisions for improving indoor environmental quality.
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