| dc.description.abstract | Vietnam's healthcare system faces significant challenges, including hospital
overcrowding and understaffing, exacerbated by the COVID-19 pandemic. This study
examines the current state of Vietnam's medical services, focusing on bed occupancy rates
and staffing ratios compared to WHO recommendations. Additionally, it explores the
implications of healthcare worker strain on service quality and patient satisfaction. The
feasibility of robotic healthcare systems as a solution is discussed, citing examples of their
effectiveness in reducing workload and enhancing efficiency. Developing Automated Guided
Vehicles (AGVs) is a suitable solution, highlighting the utilization of the Robot Operating
System (ROS) and various SLAM algorithms. Then, the integration of path planning
algorithms, particularly the Dynamic Window Approach (DWA) and A* algorithm,
installation of ROS platforms and web interfaces for AGV navigation automation were
performed to evaluate the possibility. As a result, the AGV's navigation system relies on the
Robot Operating System (ROS) for seamless communication and coordination between
hardware components. Despite limitations in complex real-time capabilities, ROS enhances
system efficiency and flexibility. Integrating additional features in the ROS website, such as
camera functionality and laser scan visualization, gives operators powerful tools for precise
control and decision-making. Results from simulated hospital mapping and UV disinfection
tasks underscore the AGV's efficacy in healthcare settings. Real-time coordination between
the ROS website and 2D observations, along with a console feature for manual control,
ensures proactive safety measures in critical scenarios. The thesis contributes to advancing
autonomous robotics in healthcare, addressing challenges in medical supply transportation
and infection control. Future perspectives include further refinement of the AGV design,
integration of automatic docking charging, and ongoing improvements to enhance loadbearing capabilities and navigation precision. | en_US |
