An Effective Track Designing Approach for a Mobile Robot

An Effective Track Designing Approach for a Mobile Robot

Suvranshu Pattanayak (Indira Gandhi Institute of Technology, Sarang, Dhenkanal, India), Bibhuti Bhusan Choudhury (Indira Gandhi Institute of Technology, Sarang, Dhenkanal, India), Soubhagya Chandra Sahoo (Indira Gandhi Institute of Technology, Sarang, Dhenkanal, India) and Subham Agarwal (Indira Gandhi Institute of Technology, Sarang, Dhenkanal, India)
Copyright: © 2019 |Pages: 15
DOI: 10.4018/IJNCR.2019070102

Abstract

Advancements of technology in day to day life demands upgradation in the existing soft computing approaches, for enhancing the accuracy. So, the existing particle swarm optimization (PSO) has been upgraded in this article and the new approach is adaptive particle swarm optimization (APSO). Designing an effective track which is shorter in length, takes less travel time, computation time, smooth, feasible and has zero collision risk with obstacles is always a crucial issue. To solve these issues APSO approach has been adopted in this work. A static environment has been implemented in this article for conducting the simulation study. Fifteen numbers of obstacles have been taken into consideration for designing the environment. A comparability study has been stuck between PSO and APSO to recognize the fittest approach for track design (less track size and travel time) with the shortest computation time. The APSO approach is identified as the best suited track designing tool for mobile robots.
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Introduction

A robot is always intended to serve the activities assigned to it. Working in hazardous situations, raw material or any kind of repair work in risk-associated areas sets challenges for the human beings. A robot may be classified as mobile or stationary (industrial robot) in nature, according to the movements. The term mobile associated with robot, symbolizes its free movements to any locations. Its motion can be controlled from a longer distance by using various wireless electronic devices. So, the mobile robot can travel easily if there is no obstruction in its predetermined path. Which indicates that the selection of an effective track is an important concern that has been followed by the mobile robot. Numerous approaches like Particle swarm optimization (PSO), adaptive particle swarm optimization (APSO), genetic algorithm (GA), A star (A*) algorithm, fuzzy logic, etc., are tested to resolve the track designing issues. Track with dwindle length, zero collision risk and smoothness are recognized as a global optimum track. An environment is necessary to perform the simulation work. The environment may be static or dynamic according to the variation of obstacles position from time to time. If there is no variation arises in obstacles position, then surrounding is called as static. The obstacles exist in that environment is represented as static obstacle. Otherwise the environment is dynamic in nature and obstacles present in that environment is called as dynamic.

The dominant contribution of this paper is directed towards the implementation of PSO and APSO approach to figure out the track designing issues. For performing simulation work, a static environment with fifteen obstacles is developed. Fifteen numbers of obstacles are implemented to improve the environment complexity. So, a finest tool can be identified which not only generate diminished track length with zero collision risk, but also best suited tool for complex surrounding. Lastly a comparability sequence is entrenched among PSO and APSO approach for pointing the leading approach that brings downsized track length at a lessened computational time.

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