Hybrid D* Approach: A path planning for Biomedical Waste Robots

Abstract

This paper presents a hybrid path planning design for autonomous robots tasked with collecting biomedical waste within healthcare facilities. Biomedical wastes are 74% more infectious as compared to normal wastes. There are great chances of getting infected if manually cleaned. If the biomedical wastes are cleaned with the help of autonomous robot then it will be helpful in avoiding infections from the same. We are designing the path planning required for the robot to perform the desired tasks. The proposed approach utilizes a hybrid D* (Dynamic A) algorithm, joining the strengths of both D* lite and D* extra lite to achieve efficient and adaptable navigation in complex, dynamic environments. The hybrid D* algorithm enables the robot to dynamically update its path in response to real-time changes in the environment, such as obstacles, restricted areas, and other moving agents. We recorded displacement ranges from 11.657 - 21.657 units, velocity ranges from 1.082 - 1.165 units/s & acceleration ranges from 0.054 - 0.116 units/s square for path planned through hybrid D*. The simulation was conduction under different configuration of layouts. Through simulations and experimental validation, we demonstrate the effectiveness of the proposed approach in optimizing waste collection routes, minimizing travel time, and improving overall operational efficiency.