Mobile disinfection robot control optimization based on far-UVC light irradiance modeling

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Department of Applied Computing


We propose a general mobile robot velocity and distance control design framework that relies on using the Keitz irradiance-flux equation relating the measured irradiance and the output power of far-UVC light fixtures along with an exponential decay model for evaluating the survival of viruses and pathogens subjected to farUVC exposure. Our mathematical framework is capable of computing the optimal distance from vertical target surfaces. Furthermore, given a moving mobile robot rover base with UV light towers mounted on it, we formulate a suitable optimal control problem to derive the optimal velocity profile of the mobile robot for achieving efficient disinfection in terms of disinfection time and energy expenditure.

Publication Title

Proceedings of SPIE, Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2023