Research on mobile robot based on Lidar and RGBD perception fusion

In response to ICU challenges during infectious disease outbreaks, we developed a mobile robot with autonomous navigation to support tracheal intubation surgery. The system integrates environmental perception, motion control, and obstacle avoidance using ROS. A physical prototype was built with high-speed node communication and full contactless operation capability. We constructed a navigation module using Gmapping for mapping and an improved A* and Teb algorithm for path planning. Obstacle avoidance was enhanced with YOLOv5s-based target detection. Tests in a simulated ICU confirmed effective navigation, accurate mapping, and efficient obstacle avoidance, demonstrating strong potential for clinical application.