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Article
Publication date: 14 May 2019

Anish Pandey, Abhishek Kumar Kashyap, Dayal R. Parhi and B.K. Patle

This paper aims to design and implement the multiple adaptive neuro-fuzzy inference system (MANFIS) architecture-based sensor-actuator (motor) control technique for mobile robot…

Abstract

Purpose

This paper aims to design and implement the multiple adaptive neuro-fuzzy inference system (MANFIS) architecture-based sensor-actuator (motor) control technique for mobile robot navigation in different two-dimensional environments with the presence of static and moving obstacles.

Design/methodology/approach

The three infrared range sensors have been mounted on the front, left and right side of the robot, which reads the forward, left forward and right forward static and dynamic obstacles in the environment. This sensor data information is fed as inputs into the MANFIS architecture to generate appropriate speed control commands for right and left motors of the robot. In this study, we have taken one assumption for moving obstacle avoidance in different scenarios the speed of the mobile robot is at least greater than or equal to the speed of moving obstacles and goal.

Findings

Graphical simulations have designed through MATLAB and virtual robot experimentation platform (V-REP) software and experiments have been done on Arduino MEGA 2560 microcontroller-based mobile robot. Simulation and experimental studies demonstrate the effectiveness and efficiency of the proposed MANFIS architecture.

Originality/value

This paper designs and implements MANFIS architecture for mobile robot navigation between a static and moving obstacle in different simulation and experimental environments. Also, the authors have compared this developed architecture to the other navigational technique and found that our developed architecture provided better results in terms of path length in the same environment.

Details

World Journal of Engineering, vol. 16 no. 2
Type: Research Article
ISSN: 1708-5284

Keywords

Article
Publication date: 8 July 2021

Lin Zhang, Yingjie Zhang, Manni Zeng and Yangfan Li

The purpose of this paper is to put forward a path planning method in complex environments containing dynamic obstacles, which improves the performance of the traditional A…

Abstract

Purpose

The purpose of this paper is to put forward a path planning method in complex environments containing dynamic obstacles, which improves the performance of the traditional A* algorithm, this method can plan the optimal path in a short running time.

Design/methodology/approach

To plan an optimal path in a complex environment with dynamic and static obstacles, a novel improved A* algorithm is proposed. First, obstacles are identified by GoogLeNet and classified into static obstacles and dynamic obstacles. Second, the ray tracing algorithm is used for static obstacle avoidance, and a dynamic obstacle avoidance waiting rule based on dilate principle is proposed. Third, the proposed improved A* algorithm includes adaptive step size adjustment, evaluation function improvement and path planning with quadratic B-spline smoothing. Finally, the proposed improved A* algorithm is simulated and validated in real-world environments, and it was compared with traditional A* and improved A* algorithms.

Findings

The experimental results show that the proposed improved A* algorithm is optimal and takes less execution time compared with traditional A* and improved A* algorithms in a complex dynamic environment.

Originality/value

This paper presents a waiting rule for dynamic obstacle avoidance based on dilate principle. In addition, the proposed improved A* algorithm includes adaptive step adjustment, evaluation function improvement and path smoothing operation with quadratic B-spline. The experimental results show that the proposed improved A* algorithm can get a shorter path length and less running time.

Details

Assembly Automation, vol. 41 no. 4
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 8 April 2021

Bhumeshwar Patle, Shyh-Leh Chen, Brijesh Patel, Sunil Kumar Kashyap and Sudarshan Sanap

With the increasing demand for surveillance and smart transportation, drone technology has become the center of attraction for robotics researchers. This study aims to introduce a…

Abstract

Purpose

With the increasing demand for surveillance and smart transportation, drone technology has become the center of attraction for robotics researchers. This study aims to introduce a new path planning approach to drone navigation based on topology in an uncertain environment. The main objective of this study is to use the Ricci flow evolution equation of metric and curvature tensor over angular Riemannian metric, and manifold for achieving navigational goals such as path length optimization at the minimum required time, collision-free obstacle avoidance in static and dynamic environments and reaching to the static and dynamic goals. The proposed navigational controller performs linearly and nonlinearly both with reduced error-based objective function by Riemannian metric and scalar curvature, respectively.

Design/methodology/approach

Topology and manifolds application-based methodology establishes the resultant drone. The trajectory planning and its optimization are controlled by the system of evolution equation over Ricci flow entropy. The navigation follows the Riemannian metric-based optimal path with an angular trajectory in the range from 0° to 360°. The obstacle avoidance in static and dynamic environments is controlled by the metric tensor and curvature tensor, respectively. The in-house drone is developed and coded using C++. For comparison of the real-time results and simulation results in static and dynamic environments, the simulation study has been conducted using MATLAB software. The proposed controller follows the topological programming constituted with manifold-based objective function and Riemannian metric, and scalar curvature-based constraints for linear and nonlinear navigation, respectively.

Findings

This proposed study demonstrates the possibility to develop the new topology-based efficient path planning approach for navigation of drone and provides a unique way to develop an innovative system having characteristics of static and dynamic obstacle avoidance and moving goal chasing in an uncertain environment. From the results obtained in the simulation and real-time environments, satisfactory agreements have been seen in terms of navigational parameters with the minimum error that justifies the significant working of the proposed controller. Additionally, the comparison of the proposed navigational controller with the other artificial intelligent controllers reveals performance improvement.

Originality/value

In this study, a new topological controller has been proposed for drone navigation. The topological drone navigation comprises the effective speed control and collision-free decisions corresponding to the Ricci flow equation and Ricci curvature over the Riemannian metric, respectively.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 12 July 2022

Huaidong Zhou, Pengbo Feng and Wusheng Chou

Wheeled mobile robots (WMR) are the most widely used robots. Avoiding obstacles in unstructured environments, especially dynamic obstacles such as pedestrians, is a serious…

Abstract

Purpose

Wheeled mobile robots (WMR) are the most widely used robots. Avoiding obstacles in unstructured environments, especially dynamic obstacles such as pedestrians, is a serious challenge for WMR. This paper aims to present a hybrid obstacle avoidance method that combines an informed-rapidly exploring random tree* algorithm with a three-dimensional (3D)-object detection approach and model prediction controller (MPC) to conduct obstacle perception, collision-free path planning and obstacle avoidance for WMR in unstructured environments.

Design/methodology/approach

Given a reference orientation and speed, the hybrid method uses parametric ellipses to represent obstacle expansion boundaries based on the 3D target detection results, and a collision-free reference path is planned. Then, the authors build on a model predictive control for tracking the collision-free reference path by incorporating the distance between the robot and obstacles. The proposed framework is a mapless method for WMR.

Findings

The authors present experimental results with a mobile robot for obstacle avoidance in indoor environments crowded with obstacles, such as chairs and pedestrians. The results show that the proposed hybrid obstacle avoidance method can satisfy the application requirements of mobile robots in unstructured environments.

Originality/value

In this study, the parameter ellipse is used to represent the area occupied by the obstacle, which takes the velocity as the parameter. Therefore, the motion direction and position of dynamic obstacles can be considered in the planning stage, which enhances the success rate of obstacle avoidance. In addition, the distance between the obstacle and robot is increased in the MPC optimization function to ensure a safe distance between the robot and the obstacle.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 4 July 2018

Jinwu Xiang, Tong Shen and Daochun Li

Obstacle and wind field are common environmental factors for mini unmanned helicopter (MUH) flight. This paper aims to develop a trajectory planning approach guiding MUH to avoid…

Abstract

Purpose

Obstacle and wind field are common environmental factors for mini unmanned helicopter (MUH) flight. This paper aims to develop a trajectory planning approach guiding MUH to avoid static and dynamic obstacles and to fly in steady uniform or boundary-layer wind field.

Design/methodology/approach

An optimal control model including a nonlinear flight dynamics model and a cubic obstacle model is established for MUH trajectory planning. Radau pseudospectral method is used to generate the optimal trajectory.

Findings

The approach can plan reasonable obstacle-avoiding trajectories in obstacle and windy environments. The simulation results show that high-speed wind fields increase the flight time and fluctuation of control inputs. If boundary-layer wind field exists, the trajectory deforms significantly and gets closer to the ground to escape from the strong wind.

Originality/value

The key innovations in this paper include a cubic obstacle model which is straightforward and practical for trajectory planning and MUH trajectory planning in steady uniform wind field and boundary-layer wind field. This study provides an efficient solution to the trajectory planning for MUH in obstacle and windy environments.

Details

Aircraft Engineering and Aerospace Technology, vol. 90 no. 5
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 27 April 2012

Yu Yu Lwin and Yoshio Yamamoto

The purpose of this paper is to design a mobile robot controller which is able to pursue a given goal with obstacle‐avoiding capability in which the two tasks, i.e. aiming at the…

Abstract

Purpose

The purpose of this paper is to design a mobile robot controller which is able to pursue a given goal with obstacle‐avoiding capability in which the two tasks, i.e. aiming at the goal and avoiding obstacles, are fused together in a coherent framework of look‐ahead control method.

Design/methodology/approach

Navigation toward a goal is typically executed based on global information obtained from GPS. Obstacle avoidance, however, is local in nature, and a higher priority temporarily should be placed on avoiding a collision with the obstacle than taking the shortest path toward the goal. The former is handled by the goal‐aiming mode while the latter is dealt with by the obstacle‐avoiding mode. These two tasks with different natures are treated under so‐called “look‐ahead control” by simply changing coordinate frames and associated elements within the same controller. Therefore, continuity and smoothness of the resulting motion and trajectory is maintained throughout its mission.

Findings

Two different tasks, goal aiming and collision avoiding, can smoothly be switched back and forth within the same controller by replacing its coordinate frame, decoupling matrix and corresponding reference signals to follow. It is found through simulation and real experiments that the proposed scheme can graciously handle obstacles, static or dynamic, regardless of the number of obstacles. Also, the look‐ahead control guarantees smoothness of resulting trajectories.

Originality/value

Mobile robot autonomous navigation in outdoor obstructed areas offers challenging study for robot researchers. The vital aspect is to smartly control the mobile robot to move to the desired location autonomously, without colliding with any obstacles. The proposed method provides a stable and robust navigation framework for any kind of mobile robot, especially for outdoor use.

Details

Industrial Robot: An International Journal, vol. 39 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 22 August 2008

Ya‐Chun Chang and Yoshio Yamamoto

This paper aims to present a hybrid path planning algorithm which is designed for use of autonomous vehicles in indoor environments. The approach mainly contributes the ability of…

Abstract

Purpose

This paper aims to present a hybrid path planning algorithm which is designed for use of autonomous vehicles in indoor environments. The approach mainly contributes the ability of generating a safe and smooth collision avoidance path for attaining a desired position in an unknown and obstructed environment.

Design/methodology/approach

The hybrid planner is based on potential field method and Voronoi diagram approach, and it is represented with the ability of concurrent map building and autonomous navigation.

Findings

The possibility of controlling the look‐ahead distance allows the mobile robot to smartly control the velocity for creating a smooth trajectory autonomously. The dead‐lock problem is solved by defining necessary sub‐goals between targets on the constructed map.

Originality/value

The system controller (look‐ahead control) with the potential field method allows the robot to generate a smooth and safe path for an expected position. Only essential exploration of unknown environment is performed since the approach constrains the mobile robot to explore a safe and sub‐optimal route towards a destination.

Details

Industrial Robot: An International Journal, vol. 35 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 October 2022

Ipsit Kumar Dhal, Saroj Kumar and Dayal R. Parhi

This study aims to modify a nature-based numerical method named the invasive weed optimization (IWO) method for mobile robot path planning in various complex environments.

Abstract

Purpose

This study aims to modify a nature-based numerical method named the invasive weed optimization (IWO) method for mobile robot path planning in various complex environments.

Design/methodology/approach

The existing IWO method is quick in converging to a feasible solution but in a complex environment; it takes more time as well as computational resources. So, in this paper, the computational part of this artificial intelligence technique is modified with the help of recently developed evolution algorithms like particle swarm optimization, genetic algorithm, etc. Some conditional logic statements were used while doing sensor-based mapping for exploring complex paths. Implementation of sensor-based exploration, mathematical IWO method and prioritizing them for better efficiency made this modified IWO method take complex dynamic decisions.

Findings

The proposed modified IWO is better for dynamic obstacle avoidance and navigating a long complex map. The deviation of results in simulation and experiments is less than 5.5%, which validates a good agreement between simulation and real-time testing platforms.

Originality/value

As per a deep literature review, it has found that the proposed approach has not been implemented on the Khepera-III robot for smooth motion planning. Here a dynamic obstacle mapping feature is implemented. A method to selectively distribute seeds instead of a random normal distribution is also implemented in this work. The modified version of IWO is coded in MATLAB and simulated through V-Rep simulation software. The integration of sensors was done through logical conditioning. The simulation results are validated using real-time experiments.

Details

International Journal of Intelligent Unmanned Systems, vol. 12 no. 1
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 4 March 2022

Valeriia Izhboldina and Igor Lebedev

The successful application of the group of unmanned aerial vehicles (UAVs) in the tasks of monitoring large areas is becoming a promising direction in modern robotics. This paper…

Abstract

Purpose

The successful application of the group of unmanned aerial vehicles (UAVs) in the tasks of monitoring large areas is becoming a promising direction in modern robotics. This paper aims to study the tasks related to the control of the UAV group while performing a common mission.

Design/methodology/approach

This paper discusses the main tasks solved in the process of developing an autonomous UAV group. During the survey, five key tasks of group robotics were investigated, namely, UAV group control, path planning, reconfiguration, task assignment and conflict resolution. Effective methods for solving each problem are presented, and an analysis and comparison of these methods are carried out. Several specifics of various types of UAVs are also described.

Findings

The analysis of a number of modern and effective methods showed that decentralized methods have clear advantages over centralized ones, since decentralized methods effectively perform the assigned mission regardless of on the amount of resources used. As for the method of planning the group movement of UAVs, it is worth choosing methods that combine the algorithms of global and local planning. This combination eliminates the possibility of collisions not only with static and dynamic obstacles, but also with other agents of the group.

Originality/value

The results of scientific research progress in the tasks of UAV group control have been summed up.

Details

International Journal of Intelligent Unmanned Systems, vol. 11 no. 2
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 17 August 2015

Mario Andrei Garzon Oviedo, Antonio Barrientos, Jaime Del Cerro, Andrés Alacid, Efstathios Fotiadis, Gonzalo R. Rodríguez-Canosa and Bang-Chen Wang

This paper aims to present a system that is fully capable of addressing the issue of detection, tracking and following pedestrians, which is a very challenging task, especially…

Abstract

Purpose

This paper aims to present a system that is fully capable of addressing the issue of detection, tracking and following pedestrians, which is a very challenging task, especially when it is considered for using in large outdoors infrastructures. Three modules, detection, tracking and following, are integrated and tested over long distances in semi-structured scenarios, where static or dynamic obstacles, including other pedestrians, can be found.

Design/methodology/approach

The detection is based on the probabilistic fusion of a laser scanner and a camera. The tracking module pairs observations with previously detected targets by using Kalman Filters and a Mahalanobis-distance. The following module allows to safely pursue the target by using a well-defined navigation scheme.

Findings

The system can track pedestrians from static position to 3.46 m/s (running). It handles occlusions, crossings or miss-detections, keeping track of the position even if the pedestrian is only detected in 55/per cent of the observations. Moreover, it autonomously selects and follows a target at a maximum speed of 1.46 m/s.

Originality/value

The main novelty of this study is the integration of the three algorithms in a fully operational system, tested in real outdoor scenarios. Furthermore, the addition of labelling to the detection algorithm allows using the full range of a single sensor while preserving the high performance of a combined detection. False-positives’ rate is reduced by handling the uncertainty level when pairing observations. The inclusion of pedestrian speed in the model speeds up and simplifies tracking process. Finally, the most suitable target is automatically selected by a scoring system.

Details

Industrial Robot: An International Journal, vol. 42 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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