IV Buddy
Prototype Performance
We tested our prototype under various conditions and were satisfied with its following performance and sensing capabilities. A few minor performance-related issues include:
Mechanical system reliability: flange bearings that support the swerve drive assembly occasionally cause drift.
System response speed: noticeable delay in obstacle avoidance due to the slower processing speed of the Teensy and low refresh rate of the ultrasonic sensors.
Overall robotic height: we were concerned that our base footprint was to small to support a six-foot-tall stand, so our prototype is 4.5 feet tall.
AR Tag tracking can occasionally be thrown off by changes in lighting.
Future Improvements:
Current Prototype:
Purchase more precise bearings to press-fit into the steering assembly.
Upgrade processor and expand ultrasonic tests to improve obstacle avoidance.
Improve following functionality with turning AR Tag.
Raise bags to full height by increasing height of frame.
True Products.​
Replace ultrasonic sensors with LIDAR for superior obstacle detection.
Install more advanced time-of-flight sensors for patient following (potential radio-based beacon system) using camera as a supplement.