20.500.12556/DKUM-97462 Optimal path planning of a disinfection mobile robot against COVID-19 in a ROS-based research platform Due to COVID-19 pandemic, there is an increasing demand for mobile robots to substitute human in disinfection tasks. New generations of disinfection robots could be developed to navigate in high-risk, high-touch areas. Public spaces, such as airports, schools, malls, hospitals, workplaces and factories could benefit from robotic disinfection in terms of task accuracy, cost, and execution time. The aim of this work is to integrate and analyse the performance of Particle Swarm Optimization (PSO) algorithm, as global path planner, coupled with Dynamic Window Approach (DWA) for reactive collision avoidance using a ROS-based software prototyping tool. This paper introduces our solution – a SLAM (Simultaneous Localization and Mapping) and optimal path planning-based approach for performing autonomous indoor disinfection work. This ROS-based solution could be easily transferred to different hardware platforms to substitute human to conduct disinfection work in different real contaminated environments. disinfection mobile robot COVID-19 optimal path planning Particle Swarm Optimization (PSO) Simultaneous Localization and Mapping (SLAM) Dynamic Window Approach (DWA) Robot Operating System (ROS) ROS-based platform mobilni robot za dezinfekcijo optimalno načrtovanje poti optimizacija roja delcev sočasna lokalizacija in kartiranje pristop dinamičnega okna operacijski sistem robota platforma ki temelji na ROS-u true false true Univerza v Mariboru Angleški jezik Slovenski jezik https://apem-journal.org/Archives/2021/Abstract-APEM16-4_405-417.html Članek v reviji 2026-03-10 15:12:26 2026-03-10 15:12:26 2026-03-11 03:07:58 0000-00-00 00:00:00 2021 0 0 str. 405-417 no. 4 Vol. 16 Dec. 2021 0000-00-00 Zaloznikova Objavljeno NiDoloceno 2021-11-19 2021-11-28 2021-12-18 681.5 270724355 10.14743/apem2021.4.409 1854-6250 APEM16-4_405-417.pdf APEM16-4_405-417.pdf 1 6A22A13985A93AC9D678F6FF8DB2E35E ecbbc8dccb28037c8111d1ecb199d1dbf216fb7dac3b880d145accc44687bfb7 6f6c2f02-1c8b-11f1-bd80-00155d580e1a https://dk.um.si/Dokument.php?lang=slv&id=204408 https://apem-journal.org/Archives/2021/Abstract-APEM16-4_405-417.html 0 75e793dc-1c8b-11f1-bd80-00155d580e1a https://dk.um.si/Dokument.php?lang=slv&id=204409 Fakulteta za strojništvo Advances in production engineering & management 0 0 0