IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Swarm Intelligence: An Application of Ant Colony OptimizationIJMER
Swarm intelligence, a branch of artificial intelligence is a part which discusses the collective
behaviour of social animals such as ants, fishes, termites, birds, bacteria. The collective behaviour of
animals to achieve target can be used in practical applications. One of the applications is ant colony
optimization. Ongoing research of ACO, there are diverse applications namely data mining, image
processing, power electronic circuit design etc. One of that is network routing. By using ACO, we can
find the shortest path in network routing
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
The first ant colony optimization (ACO) called ant system was inspired through studying of the behaviour of ants in 1991 by Macro Dorigo and co-workers. An ant colony is highly organized, in which one interacting with others through pheromone in perfect harmony. Optimization problems can be solved through simulating ant’s behaviours. Since the first ant system algorithm was proposed, there is a lot of development in ACO. In ant colony system algorithm, local pheromone is used for ants to search optimum result. However, high magnitude of computing is its deficiency and sometimes it is inefficient. Thomas Stützle etal. Introduced MAX-MIN Ant System (MMAS) in 2000. It is one of the best algorithms of ACO. It limits total pheromone in every trip or sub-union to avoid local convergence. However, the limitation of pheromone slows down convergence rate in MMAS.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
In computer science and operation research, the ant colony optimization algorithm (ACO) is a probabilistic technique for solving computational problems which can be reduced to finding good paths through graph.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Swarm Intelligence: An Application of Ant Colony OptimizationIJMER
Swarm intelligence, a branch of artificial intelligence is a part which discusses the collective
behaviour of social animals such as ants, fishes, termites, birds, bacteria. The collective behaviour of
animals to achieve target can be used in practical applications. One of the applications is ant colony
optimization. Ongoing research of ACO, there are diverse applications namely data mining, image
processing, power electronic circuit design etc. One of that is network routing. By using ACO, we can
find the shortest path in network routing
Robot Pose Estimation: A Vertical Stereo Pair Versus a Horizontal Oneijcsit
In this paper, we study the effect of the layout of multiple cameras placed on top of an autonomous mobile
robot. The idea is to study the effect of camera layout on the accuracy of estimated pose parameters.
Particularly, we compare the performance of a vertical-stereo-pair put on the robot at the axis of rotation
to that of a horizontal-stereo-pair. The motivation behind this comparison is that the robot rotation causes
only a change of orientation to the cameras on the axis of rotation. On the other hand, off-axis cameras
encounter additional translation beside the change of orientation. In this work, we show that for a stereo
pair encountering sequences of large rotations, at least a reference camera should be put on the axis of
rotation. Otherwise, the obtained translations have to be corrected based on the location of the rotation
axis. This finding will help robot designers to develop vision systems that are capable of obtaining accurate
pose for navigation control. An extensive set of simulations and real experiments have been carried out to
investigate the performance of the studied camera layouts encountering different motion patterns. As the
problem at hand is a real-time application, the extended Kalman filter (EKF) is used as a recursive
estimator.
The first ant colony optimization (ACO) called ant system was inspired through studying of the behaviour of ants in 1991 by Macro Dorigo and co-workers. An ant colony is highly organized, in which one interacting with others through pheromone in perfect harmony. Optimization problems can be solved through simulating ant’s behaviours. Since the first ant system algorithm was proposed, there is a lot of development in ACO. In ant colony system algorithm, local pheromone is used for ants to search optimum result. However, high magnitude of computing is its deficiency and sometimes it is inefficient. Thomas Stützle etal. Introduced MAX-MIN Ant System (MMAS) in 2000. It is one of the best algorithms of ACO. It limits total pheromone in every trip or sub-union to avoid local convergence. However, the limitation of pheromone slows down convergence rate in MMAS.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
In computer science and operation research, the ant colony optimization algorithm (ACO) is a probabilistic technique for solving computational problems which can be reduced to finding good paths through graph.
Optimization techniques: Ant Colony Optimization: Bee Colony Optimization: Tr...Soumen Santra
Optimization techniques: Ant Colony Optimization: Bee Colony Optimization: Traveling Salesman Problem
Features of Ant Colony
Features of Ant
Features of other Optimization Techniques
Algorithm
Flow Charts
multi-view vehicle detection and tracking inAalaa Khattab
Multi-view vehicle detection and tracking in crossroads
is of fundamental importance in traffic surveillance yet
still remains a very challenging task. The view changes of
different vehicles and their occlusions in crossroads are two
main difficulties that often fail many existing methods.
40 Gbit/S All-Optical Signal Regeneration with Soa In Mach-Zehnder ConfigurationIOSR Journals
In this paper, we propose an optical clock recovery (OCR) module using the fabry-perot filter (FPF)
and semiconductor optical amplifier in Mach-zehnder configuration. An optical data stream of 40 Gbit/s is
input to the system and 40 GHz optical clock signal is recovered. We have also presented method of 3R optical
signal regeneration by SOA in mach-zehnder (SOA-MZI) configuration by providing Re-amplification,
Reshaping and Retiming using simple amplitude modulation.
Pedestrian Counting in Video Sequences based on Optical Flow ClusteringCSCJournals
The demand for automatic counting of pedestrians at event sites, buildings, or streets has been increased. Existing systems for counting pedestrians in video sequences have a problem that counting accuracy degrades when many pedestrians coexist and occlusion occurs frequently. In this paper, we introduce a method of clustering optical flows extracted from pedestrians in video frames to improve the counting accuracy. The proposed method counts the number of pedestrians by using pre-learned statistics, based on the strong correlation between the number of optical flow clusters and the actual number of pedestrians. We evaluate the accuracy of the proposed method using several video sequences, focusing in particular on the effect of parameters for optical flow clustering. We find that the proposed method improves the counting accuracy by up to 25% as compared with a non-clustering method. We also report that using a clustering threshold of angles less than 1 degree is effective for enhancing counting accuracy. Furthermore, we compare the performance of two algorithms that use feature points and lattice points when optical flows are detected. We confirm that the counting accuracy using feature points is higher than that using lattice points especially when the number of occluded pedestrians increases.
Ant Colony (-based) Optimisation – a way to solve optimisation problems based on the way that ants indirectly communicate directions to each other we call Stigmergy.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...ijfls
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted based on the robot's distance from obstacles, and the target position relative to the instantaneous orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also, Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy systems are determined based on the estimation of the localization process, the information of the obstacles center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile robot are determined by the desired fuzzy structures which are applied to its kinematic model.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...Wireilla
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is
the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of
the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted
based on the robot's distance from obstacles, and the target position relative to the instantaneous
orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also,
Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy
systems are determined based on the estimation of the localization process, the information of the obstacles
center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile
robot are determined by the desired fuzzy structures which are applied to its kinematic model.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Optimization techniques: Ant Colony Optimization: Bee Colony Optimization: Tr...Soumen Santra
Optimization techniques: Ant Colony Optimization: Bee Colony Optimization: Traveling Salesman Problem
Features of Ant Colony
Features of Ant
Features of other Optimization Techniques
Algorithm
Flow Charts
multi-view vehicle detection and tracking inAalaa Khattab
Multi-view vehicle detection and tracking in crossroads
is of fundamental importance in traffic surveillance yet
still remains a very challenging task. The view changes of
different vehicles and their occlusions in crossroads are two
main difficulties that often fail many existing methods.
40 Gbit/S All-Optical Signal Regeneration with Soa In Mach-Zehnder ConfigurationIOSR Journals
In this paper, we propose an optical clock recovery (OCR) module using the fabry-perot filter (FPF)
and semiconductor optical amplifier in Mach-zehnder configuration. An optical data stream of 40 Gbit/s is
input to the system and 40 GHz optical clock signal is recovered. We have also presented method of 3R optical
signal regeneration by SOA in mach-zehnder (SOA-MZI) configuration by providing Re-amplification,
Reshaping and Retiming using simple amplitude modulation.
Pedestrian Counting in Video Sequences based on Optical Flow ClusteringCSCJournals
The demand for automatic counting of pedestrians at event sites, buildings, or streets has been increased. Existing systems for counting pedestrians in video sequences have a problem that counting accuracy degrades when many pedestrians coexist and occlusion occurs frequently. In this paper, we introduce a method of clustering optical flows extracted from pedestrians in video frames to improve the counting accuracy. The proposed method counts the number of pedestrians by using pre-learned statistics, based on the strong correlation between the number of optical flow clusters and the actual number of pedestrians. We evaluate the accuracy of the proposed method using several video sequences, focusing in particular on the effect of parameters for optical flow clustering. We find that the proposed method improves the counting accuracy by up to 25% as compared with a non-clustering method. We also report that using a clustering threshold of angles less than 1 degree is effective for enhancing counting accuracy. Furthermore, we compare the performance of two algorithms that use feature points and lattice points when optical flows are detected. We confirm that the counting accuracy using feature points is higher than that using lattice points especially when the number of occluded pedestrians increases.
Ant Colony (-based) Optimisation – a way to solve optimisation problems based on the way that ants indirectly communicate directions to each other we call Stigmergy.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...ijfls
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted based on the robot's distance from obstacles, and the target position relative to the instantaneous orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also, Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy systems are determined based on the estimation of the localization process, the information of the obstacles center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile robot are determined by the desired fuzzy structures which are applied to its kinematic model.
EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON TH...Wireilla
The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is
the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of
the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted
based on the robot's distance from obstacles, and the target position relative to the instantaneous
orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also,
Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy
systems are determined based on the estimation of the localization process, the information of the obstacles
center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile
robot are determined by the desired fuzzy structures which are applied to its kinematic model.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
Chaotic ANT System Optimization for Path Planning of the Mobile Robotscseij
This paper presents an improved ant system algorithm for path planning of the mobile robot under the complicated environment. To solve the drawback of the traditional ant colony system algorithm (ACS), which usually falls into the local optimum, we propose an improved ant colony system algorithm (IACS) based on chaos. Simulation experiments show that chaotic ant colony algorithm not only enhances the global search capability, but also has more effective than the traditional algorithm.
Modelling of walking humanoid robot with capability of floor detection and dy...ijfcstjournal
Most humanoid robots have highly complicated structure and design of robots that are very similar to
human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control
of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot,
combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to
identify two fundamental issues: first, detection of target or an object which robot must follow; second,
detecting surface of the ground so that walking robot could maintain its balance just like a human and
shows its best performance. Presented model gives high-level view of humanoid robot's operations.
Optimized Robot Path Planning Using Parallel Genetic Algorithm Based on Visib...IJERA Editor
An analysis is made for optimized path planning for mobile robot by using parallel genetic algorithm. The
parallel genetic algorithm (PGA) is applied on the visible midpoint approach to find shortest path for mobile
robot. The hybrid ofthese two algorithms provides a better optimized solution for smooth and shortest path for
mobile robot. In this problem, the visible midpoint approach is used to make the effectiveness for avoiding
local minima. It gives the optimum paths which are always consisting on free trajectories. But the
proposedhybrid parallel genetic algorithm converges very fast to obtain the shortest route from source to
destination due to the sharing of population. The total population is partitioned into a number subgroups to
perform the parallel GA. The master thread is the center of information exchange and making selection with
fitness evaluation.The cell to cell crossover makes the algorithm significantly good. The problem converges
quickly with in a less number of iteration.
A Path Planning Technique For Autonomous Mobile Robot Using Free-Configuratio...CSCJournals
This paper presents the implementation of a novel technique for sensor based path planning of autonomous mobile robots. The proposed method is based on finding free-configuration eigen spaces (FCE) in the robot actuation area. Using the FCE technique to find optimal paths for autonomous mobile robots, the underlying hypothesis is that in the low-dimensional manifolds of laser scanning data, there lies an eigenvector which corresponds to the free-configuration space of the higher order geometric representation of the environment. The vectorial combination of all these eigenvectors at discrete time scan frames manifests a trajectory, whose sum can be treated as a robot path or trajectory. The proposed algorithm was tested on two different test bed data, real data obtained from Navlab SLAMMOT and data obtained from the real-time robotics simulation program Player/Stage. Performance analysis of FCE technique was done with existing four path planning algorithms under certain working parameters, namely computation time needed to find a solution, the distance travelled and the amount of turning required by the autonomous mobile robot. This study will enable readers to identify the suitability of path planning algorithm under the working parameters, which needed to be optimized. All the techniques were tested in the real-time robotic software Player/Stage. Further analysis was done using MATLAB mathematical computation software.
The assembly process is one of the most time consuming and expensive manufacturing activities.
Determination of a correct and stable assembly sequence is necessary for automated assembly system. The objective of
the present work is to generate feasible, stable and optimal assembly sequence with minimum assembly time.
Automated assembly has the advantage of greater process capability and scalability. It is faster, more efficient and
precise than any conventional process. Ant Colony Optimization (ACO) method is used for generation of stable
assembly sequence. This method has been applied to a Planetary Gearbox.
Ant colony optimization based routing algorithm in various wireless sensor ne...Editor Jacotech
Wireless Sensor Network has several issues and challenges due to limited battery backup, limited computation capability, and limited computation capability. These issues and challenges must be taken care while designing the algorithms to increase the Network lifetime of WSN. Routing, the act of moving information across an internet world from a source to a destination is one of the vital issue associated with Wireless Sensor Network. The Ant Colony Optimization (ACO) algorithm is a probabilistic technique for solving computational problems that can be used to find optimal paths through graphs. The short route will be increasingly enhanced therefore become more attractive. The foraging behavior and optimal route finding capability of ants can be the inspiration for ACO based algorithm in WSN. The nature of ants is to wander randomly in search of food from their nest. While moving, ants lay down a pheromone trail on the ground. This chemical pheromone has the ability to evaporate with the time. Ants have the ability to smell pheromone. When selecting their path, they tend to select, probably the paths that has strong pheromone concentrations. As soon as an ant finds a food source, carries some of it back to the nest. While returning, the quantity of chemical pheromone that an ant lay down on the ground may depend on the quantity and quality of the food. The pheromone trails will lead other ants towards the food source. The path which has the strongest pheromone concentration is followed by the ant which is the shortest paths between their nest and food source. This paper surveys the ACO based routing in various Networking domains like Wireless Sensor Networks and Mobile Ad Hoc Networks.
Design of Mobile Robot Navigation system using SLAM and Adaptive Tracking Con...iosrjce
IOSR Journal of Computer Engineering (IOSR-JCE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of computer engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in computer technology. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Autonomous Path Planning and Navigation of a Mobile Robot with Multi-Sensors ...CSCJournals
The mobile robot is applied widely and investigated deeply in industrial fields, meanwhile, mobile robot autonomous path planning and navigation algorithm is a hot research topic. In this paper, firstly mobile robot is introduced, the general path planning and navigation algorithms of the mobile robot are reviewed, then a fuzzy logic with filter smoothing is proposed based on the data from the laser scan sensor and GPS module, which is useful for mobile robot to find the best path to the destination automatically according to the position and size of the gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and navigation algorithms are tested on this mobile robot, the testing result shows that this algorithm is globally optimized, quickly responded, battery power and hardware cost saved compared with other algorithms, it is suitable for the mobile robot that is running on the embedded system and it can satisfy our design requirement.
Autonomous Path Planning and Navigation of a Mobile Robot with Multi-Sensors ...
Jp2516981701
1. Ansari Muqueet Husain, Shaikh Mohammad Sohail, V. S. Narwane / International Journal of
Engineering Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1698-1701
Path planning of material handling robot using Ant Colony
Optimization (ACO) technique
Ansari Muqueet Husain*, Shaikh Mohammad Sohail**, V. S. Narwane***
*(Department of mechanical ENGG, Mumbai University, mumbai-08)
** (Department of Information Technology, Mumbai University, mumbai - 08)
*** (Department of mechanical ENGG, Mumbai University, mumbai-77)
ABSTRACT
The present work utilizes Ant Colony introduced by Marco Dorigo in 1992 in his PhD
Optimization (ACO) technique for the generation thesis [2]. Several ant species are able to select the
of optimal motion planning sequence. The present shortest path, among a set of alternative paths, from
algorithm is based on ant's behavior, pheromone their nest to a food source. Ants lay a chemical trail
update & pheromone evaporation and is used to called pheromone when they walk to attract other
enhance the local search. This procedure is ants to take the path that has the most pheromone;
applied for proposed a method for path planning this mechanism manifests an effect of positive
of mobile robot motion in warehouses for feedback. ACO algorithm is a stochastic, distributed
materials handling with starting from any and collective approach that has been used to solve
location to reach a certain goal. Our technique as different hard combinatorial optimization problems
based on the well-known environment of the such as the Traveling Salesman Problem (TSP),
warehouse. To validate the proposed algorithm, Quadratic Assignment, or the Vehicle Routing
the program has been developed in Visual Problem. The first ACO algorithm was the Ant
C++.This technique can generated feasible, stable System (AS), which was designed to solve the TSP
and optimal robotic materials handling sequence In this paper, we propose a heuristic evolutional
and then path sequence can satisfying the algorithm ARPP which is based on ACS framework
materials handling constraints with minimum and applies visibility graph for mobile robot global
travel time. The solution is either optimal or near path planning.
optimal. The rest of paper is organized as follows.
In section 2 we introduce path planning of
Keywords - ant colony system (ACS), Obstacle warehouse robot. In section 3 we give problem
avoidance, Ant based Robot Path Planning representation including the visibility graph model
(ARPP), pheromone, visibility graph. and ARPP algorithm in section4 its simulation
results, then the conclusion of properties of ARPP
I. INTRODUCTION are given.
Mobile robot path planning or navigation is
an important application for robot control systems II. PATH PLANNING
and has attracted remarkable attention from many 2.1THE WAREHOUSE ROBOT
researchers. As a result, many interesting research The complete system in the warehouse
results have been obtained. A difficult issue in robot robots consists of a single mobile robot with
navigation or path planning in an unknown manipulator with grippers for handling, and picking
environment with static or dynamic obstacles is to the materials from the racks or shelves. A few
find a globally optimal path from the start to the environment sensors, such as wall markers (bar
target point and at the same time avoid collisions. codes, laser reflectors, etc.) that would help to
[1] localize the robot with the odometry system existing
Swarm Intelligence (SI) is an Artificial Intelligence in the mobile robot platform. The significant
technique involving a new computational and features of the warehouse robot are:
behavioral paradigm for solving distributed 1- Obstacle avoidance to move safely in the
problems based on self-organization. Examples of warehouse.
systems like this can be found in natural systems 2- Object and pattern recognition, to identify
consisting of many individuals, such as ant colonies specified packages and locate them in the right
and flocks of birds, animal herding, honey bees, shelves.
bacteria, and many more. Swarm-like algorithms, 3- Path optimization, to minimize time and distance
such as Particle Swarm Optimization (PSO) and Ant during goods transportation.
Colony Optimization (ACO), have applied
successfully for real world Optimization problems 2.2 ENVIRONMENT MODEL
in engineering and telecommunication. Environment model is an important link of
Ant Colony Optimization (ACO) is one of the robot path Planning. The essence of environment
the prevailing algorithms in SI at present, which was model is according to the known environmental
1698 | P a g e
2. Ansari Muqueet Husain, Shaikh Mohammad Sohail, V. S. Narwane / International Journal of
Engineering Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1698-1701
information, through extracting and analyzing algorithm, the initial search space of the artificial
related characteristics, converts them into space that ants can be narrowed dramatically. Hence, in this
robot can understand. Environment model selection paper, we use visibility graph as both the roadmap
and specific methods to set up the path planning and construction graph to simplify the ARPP
algorithm related and rational selection of model problem, Fig.2 illustrates visibility graph
method can reduce the troubles in the process of the
path searching. Visibility graph method is used in
this paper as a robots roadmap.
III. PROBLEM REPRESENTATION
In this section, we give the assumptions of
the GPP problem. When we applied to an
optimization problem, the ACO usually involves
solution construction on a graph, hence, we present
visibility graph model.
3.1. Problem Assumptions
The following assumptions need to be
made:
1) We assume the environment is a two-dimensional
space; 2) both the environment and obstacles have a
polygonal
shape; Fig no2.visibility graph
3) in order to avoid a moving path too close to the
obstacles, the boundaries of every obstacle can be 3.3 ARPP Algorithm for path planning (PP)
expanded by an amount that is equal to half of the 3.3.1BACKGROUND
greater size in the length and width of the robot’s Informally, the ACS works as follows: m
body plus the minimum measuring distance of the ants are initially positioned on n cities chosen
relevant sensors. In this case, the size of the robot according to some initialization rule (e.g.,
can be ignored and we can see the robot as a point randomly). Each ant builds a tour (i.e., a feasible
robot ℜ. Fig. 1 illustrates the moving environment solution) by repeatedly applying a stochastic greedy
of ℜ, rule (the state transition rule). While constructing its
Which is a 27 by 19 meters including six, obstacles? tour, an ant also modifies the amount of pheromone
on the visited edges by applying the local updating
rule. Once all ants have terminated their tour, the
amount of pheromone on edges is modified again
(by applying the global updating rule). As was the
case in ant system, ants are guided, in building their
tours, by both heuristic information (they prefer to
choose short edges) and by pheromone information.
An edge with a high amount of pheromone is a very
desirable choice. The pheromone updating rules are
designed so that they tend to give more pheromone
to edges which should be visited by ants.
3.3.2 Active State Transition Rule
In the ACS the state transition rule is as
Figure 1. Moving Environment of ℜ
follows: an ant positioned on node (i) chooses the
Fig.1. the (x, y) coordinates of vertices are (0, 0),
city (j) to move by applying the rule given by (1)
(07, 04), (11, 04), (11, 08), (07,08), (02, 11), (02,
14), (07, 14), (07,11), (10, 11),(15, 11), (15, 14), 𝛼 𝛽
𝜏 𝑖𝑗 𝑡 𝜂 𝑖𝑗 𝑡
(10, 14), (15, 03), (15,06), (20,06), (20,03), (24,07), , 𝑖𝑓𝑗𝜖𝑁 𝑖 𝑘 𝑡 ,
(27,07), (27,12), (24,12), (20,14), (20,18), (25,18), 𝑃𝑖𝑗𝑘 𝑡 = 𝛽
𝑢 𝜖𝑁 𝑖 𝑘 𝑡 𝜏 𝑖𝑢 𝑡 𝜂 𝑖𝑢 𝑡
𝛼
(1)
(25,14), and (27,19) respectively. The (x,y) 𝑘
0, 𝑖𝑓𝑗 ∉ 𝑁 𝑖 𝑡 ,
coordinates of the starting point s (st) and goal point Where Nik is the set of nodes not yet visited by ant k
(fn) are (0,0) and (27,19 ), respectively and connected to node i, τij represents the
3.2. Visibility Graph Model pheromone for the link between nodes i and j, and α
We consider visibility graph as the and β are the positive constant parameters used to
roadmap of path planning problem. If we allow
visibility graph to be construction graph of the
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3. Ansari Muqueet Husain, Shaikh Mohammad Sohail, V. S. Narwane / International Journal of
Engineering Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1698-1701
amplify the relative importance of the pheromone Where ξ is the local evaporation rate and τ0
versus the heuristic function ηij given by (2) is the initial amount of pheromone. Actually, Local
1 Updating Rule is a kind of negative feedback which
ηij = d (2)
ij aims to encourage the exploration of new areas of
Where dij is the distance of the link the search space. By evaporating pheromone trails
between node i and j Once all the ants have from visited arcs, the exploration of alternative
constructed a path from the source node to the paths is increased. On the contrary, pheromone
destination node, each ant deposits pheromone in global updating encourages the exploitation of
the amount of Δτk (t) at the links of the path using previously good paths. It is the common efforts of
ij
the pheromone updating rule (3). the positive feedback and negative feedback that
nk make the whole process of path optimization evolve.
τij (t+1)=1(−ρo). τij (t) + k=1 Δτk t , (3)
ij
Where ρ0 is the evaporation rate parameter
IV. Performance Analysis of ARPP
distributed in (0, 1), nk is the number of ants, and
In order to examine the performance of our
Δτk t is the amount of pheromone deposited by ant
ij proposed ARPP algorithm, it constructs an artificial
k at link (i, j) at time step t, as given by (4) ant colony system Ω by using m ants. Simulation
Q
𝑖𝑓 𝑎𝑛𝑡 𝑘 𝑢𝑠𝑒𝑑 𝑙𝑖𝑛𝑘 i, j , experiments executed up to 100 trials for three times
Δτk = L k ,
ij (4) on the visibility graph which have been given in
0, 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒, Fig.2. The parameters we set as Table 1 shown:
Where Q is a constant (normally set to one)
and Lk, is the total distance of the path constructed
Parameter α β ξ ρ ρ0 m
by ant k. The main characteristic of the pheromone
Parameter 0.15 2.0 0.15 0.2 0.8 8
updating rule in AS is that the pheromone values are
Value
updated by all the ants involved in constructing a
path from the source node to the destination node. Table no 1: Initial Parameters in ARPP
4.1 Experimental results on environment.
The following graphs show the number of iteration
3.3.3Global Updating Rule
The ARPP has a pheromone trail updating V/S average distance travel by the 8 ants.
approach that exploits the best solutions found. Both
evaporation and new pheromone deposit applied
only to the arcs contained in the current best
solution. Actually, the deposit of pheromone trail is
a kind of positive feedback to reinforce the ant’s
ability in finding the good solutions. Through the
positive feedback, pheromone trails accumulate on
good paths, which can guide the whole ant colony in
their moving to search good paths directly.
Ultimately, pheromone trails steer the ant colony
system to evolve towards acquiring the optimal
solution. Global Updating Rule is given by (5)
Graph no 1: number of iteration V/S average
τij ←(1−ρ )τij + ρ Δτijbs, ∀lij∈Tbs (5) distance travel by the 8 ants for first 100 trials.
Where Δτijbs=1/Cbs is additional
pheromone, added to the edge lij that belongs to
best-so-far solution Tbs .ρ (with 0 < ρ < 1) is the
global evaporation rate , for avoiding the excessive
increase in pheromone.
3.3.4Local Updating Rule
The ARPP includes a local pheromone
update to reduce emphasis on exploitation of
existing solutions, which is applied on only the
edges that have been visited by ants. Immediately
after an ant adds an arc to its current path the
amount of pheromone on the arc is decreased .This Graph no 2: number of iteration V/S average
is called Local Updating Rule and given by (6) distance travel by the 8 ants for second 100 trials.
τ ij ←(1−ξ)τij +ξτ0 (6)
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4. Ansari Muqueet Husain, Shaikh Mohammad Sohail, V. S. Narwane / International Journal of
Engineering Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com
Vol. 2, Issue 5, September- October 2012, pp.1698-1701
avoid human error or economically not viable. In
this paper, ACS is used to find the shortest
navigational path of an autonomous mobile robot
avoiding obstacles to reach the target station from
the source station. The output is found to be optimal
and satisfying for the given problem. In future with
increase in complexity of the problem, i.e. with
increase in number of obstacles or in dynamic
environment, the Ant Colony Optimization
Algorithm can be applied effectively giving optimal
Graph no 3: number of iteration V/S average path in lesser time
distance travel by the 8 ants for third 100 trials.
By observing the graphs The global-best
path of the minimum distance travels by the ants
ACKNOWLEDGEMENTS
The authors gratefully acknowledge and
appears in the path shown in Table2 with length of
thank to almighty (Allah) who created the beautiful
33 also Statistic results are shown in Table2
ant system to find their optimal path from their nest
First 100 Second 100 third 100
to food. And by observing this today we are able to
trials best trials best trials best
apply this logic to various optimal path finding
path 0→2→24→ 0→2→24→ 0→2→24→ areas.
25 25 25
Path 33 33 33 REFERENCES
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