Abstract
The need for Automated Mobile Robots (AMRs) in hospitals continues to increase along with demands for efficient distribution of medicines, samples, and medical equipment. AMR design has often been carried out without a standardized methodological framework, so design decisions are poorly documented. The problem is that few studies have applied mechatronic design methodologies such as VDI 2206 to AMRs, making the design difficult to explain from a design perspective, especially when justifying architecture, trade-offs, and integration between subsystems. This study aims to design a hospital AMR based on differential drive, BLDC motors, and ROS 2 using the VDI 2206 approach. The design follows five VDI 2206 stages: task clarification, conceptual design, preliminary embodiment design, detail design, and verification and validation. The main components used include a 350W BLDC motor, ZS-X11H driver, Jetson Nano, and Arduino Mega, with RPLIDAR A1M8 and MPU6050 IMU as sensors and ROS 2 Foxy as the software. Testing includes LiDAR readings, motor performance under loads up to 110 kg, and manual and autonomous control. The resulting design forms a three-layer architecture: perception, cognition, and actuation. Preliminary tests show that the motor–driver configuration can withstand loads up to 110 kg with a peak current of about 16 A per motor, and this value remains within the short-term operating limit of the 400 W driver. The LiDAR successfully produced a point cloud and a 2D map via SLAM Toolbox, although the mapping quality is not yet fully stable. Manual control worked well, but autonomous navigation was still disturbed by pose jumping due to suboptimal synchronization between odometry and IMU. The application of VDI 2206 makes the AMR design process more structured and easier to explain from a design perspective, although autonomous navigation still requires improvements through sensor fusion with robot_localization, increased odometry frequency, and migration to Micro-ROS.
Keywords
Autonomous mobile robot, Hospital, VDI 2206, LiDAR, ROS
Conference Certificate
Open Certificate
Certificate No. PPAVI-2026-CB2AC4FD
Certificate
of Presentation
This certificate is formally awarded to:
Herdaru Purnawarman, Marcellus Satria, Eko Purwanto Aribowo, Hizkia Urianto Koagou
for presenting the paper entitled:
Design and Testing of an Autonomous Mobile Robot for Hospital Areas Using the VDI 2206 Method
PPAVI-2026-CB2AC4FD / Oral
The 1st PPAVI Student Research and Vocational Conference 2026
16 Oct 2026
- 31 Oct 2026
Sustainable Engineering, Maritime Systems, and Applied Technology
Prototype testing
RD. Dr. Antonius Ary Setyawan, S.S., M.A, M.M.
Ketua Pengurus PPAVI
Romanus Edy Prabowo, S.Si., M.Sc., Ph.D.
Ketua Panitia
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