Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces


  • Carlos Guillermo Miguélez Machado Instituto de Ingeniería y Tecnología IIT
  • Ángel Israel Soto Marrufo Instituto de Ingeniería y Tecnología IIT
  • Israel Ulises Ponce Monarrez Instituto de Ingeniería y Tecnología IIT
  • Francesco García Luna Instituto de Ingeniería y Tecnología IIT



Graphic user interface, Sanitizing robot, Simulated model of the robot, Path planning and trajectory tracking


In the present work, a Development Graphical User Interface for interaction with a tridimensional simulation model of a sanitizing robot in a simulated room is proposed for navigation algorithms tests implemented on it. At the same time, the behaviors of exploration and disinfection path planning are implemented. The simulated model of the robot is based on the Omnidirectional Nexus 4WOmni Wheel of which the kinematic model is also proposed. Additionally, a graphic user interface to give basic commands to the simulated robot is proposed. The results of the implementation are proved through the implementation of navigation algorithms to the robot, also the behaviors of exploration, path planning, and disinfection trajectory tracking, and interaction of the graphic interface with the simulation.


Download data is not yet available.


D. Conte, S. Leamy, and T. Furukawa, "Design and Map-based Teleoperation of a Robot for Disinfection of COVID-19 in Complex Indoor Environments," 2020 IEEE Int. Symp. Safety, Secur. Rescue Robot. SSRR 2020, pp. 276-282, 2020.

W. Chanprakon, P., Sae-Oung, T., Treebupachatsakul, T., Hannanta-Anan, P., Piyawattanametha, "An Ultra-violet sterilization robot for desinfection," 5th Int. Conf. Eng. Appl. Sci. Technol., vol. 5, pp. 44-47, 2019.

A. Ray and H. Ray, "PSLB: Portable Sanitization Locomotive Bot," 2020 4th Int. Conf. Electron. Mater. Eng. Nano-Technology, IEMENTech 2020, 2020.

A. Vyshnavi, A. Manasa, C. Hamsika, and P. Shalini, "UV Disinfection Robot with Automatic Switching on Human Detection," EAI Endorsed Trans. Internet Things, vol. 6, no. 23, p. 166364, 2020.

D. Hu, H. Zhong, S. Li, J. Tan, and Q. He, "Segmenting areas of potential contamination for adaptive robotic disinfection in built environments," Build. Environ., vol. 184, no. June, 2020.

M. A. V. J. Muthugala, S. M. B. P. Samarakoon, M. M. Rayguru, B. Ramalingam, and M. R. Elara, "Wall-following behavior for a disinfection robot using type 1 and type 2 fuzzy logic systems," Sensors (Switzerland), vol. 20, no. 16, pp. 1-22, 2020.

A. E. M. de Alba, M. B. Rubio, M. E. Morán-Diez, C. Bernabéu, R. Hermosa, and E. Monte, "Microbiological evaluation of the disinfecting potential of UV-C and UV-C plus ozone generating robots," Microorganisms, vol. 9, no. 1, pp. 1-12, 2021.

L. Tiseni, D. Chiaradia, M. Gabardi, M. Solazzi, D. Leonardis, and A. Frisoli, "UV-C Mobile Robots with Optimized Path Planning: Algorithm Design and On-Field Measurements to Improve Surface Disinfection against SARS-CoV-2," IEEE Robot. Autom. Mag., vol. 28, no. 1, 2021.

A. Phunopas and S. Inoue, "Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain," Proc. Int. Conf. Artif. Life Robot., vol. 22, no. 4, pp. 607-612, 2017.

V. N. T. Thanh et al., "Autonomous navigation for omnidirectional robot based on deep reinforcement learning," Int. J. Mech. Eng. Robot. Res., vol. 9, no. 8, 2020.

A. Afzal, D. S. Katz, C. Le Goues, and C. S. Timperley, "A Study on the Challenges of Using Robotics Simulators for Testing," 2020. Accessed: Apr. 11, 2021. [Online]. Available:

A. Filotheou, E. Tsardoulias, A. Dimitriou, A. Symeonidis, and L. Petrou, "Quantitative and Qualitative Evaluation of ROS-Enabled Local and Global Planners in 2D Static Environments," J. Intell. Robot. Syst. Theory Appl., vol. 98, no. 3-4, pp. 567-601, 2020.

I. Noreen, A. Khan, K. Asghar, and Z. Habib, "A path-planning performance comparison of RRT*-AB with MEA* in a 2-Dimensional Environment," Symmetry (Basel)., vol. 11, no. 7, 2019.

B. Tang, K. Hirota, J. Wang, Y. Dai, and Z. Jia, "An Improved Dynamic Window Approach for Intelligent Pedestrian Avoidance of Mobile Robot," 2020. Accessed: Apr. 06, 2021. [Online]. Available:

B. Cybulski, A. Wegierska, and G. Granosik, "Accuracy comparison of navigation local planners on ROS-based mobile robot," in 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings, 2019, pp. 104-111.


H. Q. T. Ngo, V. N. Le, V. D. N. Thien, T. P. Nguyen, and H. Nguyen, "Develop the socially human-aware navigation system using dynamic window approach and optimize cost function for autonomous medical robot," Adv. Mech. Eng., vol. 12, no. 12, 2020.

M. Pittner, M. Hiller, F. Particke, L. Patiño-Studencki, and J. Thielecke, "Systematic analysis of global and local planners for optimal trajectory planning," 2018.

P. Sooryavanshi, S. Upganlawar, and A. Bhosle, "Implementation of node.js server on Raspberry pi to control a remote vehicle for defense use," in Proceedings of the International Conference on Intelligent Sustainable Systems, ICISS 2017, Jun. 2018, pp. 816-819.

R. Cruz, L. Garrote, A. Lopes, and U. J. Nunes, "Modular software architecture for human-robot interaction applied to the InterBot mobile robot," in 18th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2018, Jun. 2018, pp. 17-23.

M. Ily, L. Roman, and E. Magid, "Development of a graphical user interface for a crawler mobile robot servosila engineer," in Proceedings - International Conference on Developments in eSystems Engineering, DeSE, Feb. 2019, vol. 2018-Septe, pp. 192-197.

K. Miatliuk, A. Nawrocka, K. Holewa, and V. Moulianitis, "Conceptual Design of BCI for Mobile Robot Control,"

D. Gego, C. Carreto, and L. Figueiredo, "Teleoperation of a mobile robot based on eye-gaze tracking," Jul. 2017.

Y. H. Chen and K. T. Song, "Voice control design of a mobile robot using shared-control approach," in 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017, Nov. 2017, vol. 2017-Janua, pp. 105-110.

S. Sharan, T. Q. Nguyen, P. Nauth, and R. Araujo, "Implementation and testing of voice control in a mobile robot for navigation," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Jul. 2019, vol. 2019-July, pp. 145-150.

S. Pleshkova, Z. Zahariev, and A. Bekiarski, "Development of Speech Recognition Algorithm and LabView Model for Voice Command Control of Mobille Robot Motio," Dec. 2018.

G. Bai, L. Liu, Y. Meng, W. Luo, Q. Gu, and J. Wang, "Path Tracking of Wheeled Mobile Robots Based on Dynamic Prediction Model," IEEE Access, vol. 7, pp. 39690-39701, 2019.

S. Morales, J. Magallanes, C. Delgado, and R. Canahuire, "LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot," Dec. 2018.

T. Tongloy, S. Chuwongin, K. Jaksukam, C. Chousangsuntorn, and S. Boonsang, "Asynchronous deep reinforcement learning for the mobile robot navigation with supervised auxiliary tasks," in 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, Feb. 2018, vol. 2017-Decem, pp. 68-72.

A. L. Saleh, M. A. Hussain, and S. M. Klim, "Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller," J. Univ. Babylon Eng. Sci., vol. 26, no. 4, pp. 292-306, Feb. 2018.

D. Kiryanov and R. Lavrenov, "Remote Control Application for 'Servosila Engineer' on Android Mobile Devices," Proc. Int. Conf. Artif. Life Robot., vol. 25, no. February, pp. 440-443, 2020.

M. Wu, S. L. Dai, and C. Yang, "Mixed reality enhanced user interactive path planning for omnidirectional mobile robot," Appl. Sci., vol. 10, no. 3, p. 1135, Feb. 2020.

A. Zea and U. D. Hanebeck, "IVIZ: a ROS visualization app for mobile devices," arXiv, 2020.

K. Ruan, Z. Wu, and Q. Xu, "Smart cleaner: A new autonomous indoor disinfection robot for combating the covid-19 pandemic," Robotics, vol. 10, no. 3, 2021.

D. Hu, H. Zhong, S. Li, J. Tan, and Q. He, "Segmenting areas of potential contamination for adaptive robotic disinfection in built environments," Build. Environ., vol. 184, 2020.

Built simulated room (top view in Gazebo simulator, bottom view in Rviz).



How to Cite

Miguélez Machado, C. G., Soto Marrufo, Ángel I., Ponce Monarrez, I. U., & García Luna, F. (2021). Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces. Revista De Ciencias Tecnológicas, 4(4), 353–364.