Pub Date : 2022-05-01DOI: 10.14313/jamris-2-2022-14
S. Ramalingam, S. Mohideen
Abstract In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material chosen for the robot structure was a hybrid composite. A comparison study was carried out for the aluminium 6082 alloy for the flexible manipulator arm application. Vibration behavior and control implementation was analyzed by adding joint flexibility in the system. Using a simulation algorithm, the system parameter calculation is carried out through MATLAB software for vibration amplitude, transient period, steady-state error, and settling time of flexible robotic arm system. In a systematized motion equation, flexible robotic deflections are organized via the assumed mode (AM) and Lagrange techniques (LT). The graph analysis of hybrid composite and AL6082 materials with high stiffness coefficients is plotted. These obtained values from the plot are utilized for Linear Quadratic Regulator (LQR) controller design. The LQR output facts for both aluminium structural robotic arm and composite material robotic arms are established.
{"title":"Vibration Control Using a Modern Control System for Hybrid Composite Flexible Robot Manipulator Arm","authors":"S. Ramalingam, S. Mohideen","doi":"10.14313/jamris-2-2022-14","DOIUrl":"https://doi.org/10.14313/jamris-2-2022-14","url":null,"abstract":"Abstract In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material chosen for the robot structure was a hybrid composite. A comparison study was carried out for the aluminium 6082 alloy for the flexible manipulator arm application. Vibration behavior and control implementation was analyzed by adding joint flexibility in the system. Using a simulation algorithm, the system parameter calculation is carried out through MATLAB software for vibration amplitude, transient period, steady-state error, and settling time of flexible robotic arm system. In a systematized motion equation, flexible robotic deflections are organized via the assumed mode (AM) and Lagrange techniques (LT). The graph analysis of hybrid composite and AL6082 materials with high stiffness coefficients is plotted. These obtained values from the plot are utilized for Linear Quadratic Regulator (LQR) controller design. The LQR output facts for both aluminium structural robotic arm and composite material robotic arms are established.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"101 1","pages":"36 - 45"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86295258","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.14313/jamris/2-2022/18
Rudy Hanindito, A. Cahyadi, Prapto Nugroho
Abstract Formation control is an important part of any system that utilizes multiple mobile agents to achieve its particular goals. One of those applications is the mobile wireless network sensor. This field has become increasingly more popular in recent times due to the advancement of technology, especially in the fields of miniaturization and telecommunications. The main problem of this research is the relatively untested sensing capability of a mobile wireless sensor network in an operating area that has distributed and/or multiple locations of high interest. The purpose of this research is to discover the compatibility of a multiple-agent coverage control system with several examples of interest functions that have multiple and/or distributed points of global maximum value in order to explore more thoroughly the performance of a given system in a varying environments.
{"title":"Coverage Control of Mobile Wireless Sensor Networks with Distributed Locations of High Interest","authors":"Rudy Hanindito, A. Cahyadi, Prapto Nugroho","doi":"10.14313/jamris/2-2022/18","DOIUrl":"https://doi.org/10.14313/jamris/2-2022/18","url":null,"abstract":"Abstract Formation control is an important part of any system that utilizes multiple mobile agents to achieve its particular goals. One of those applications is the mobile wireless network sensor. This field has become increasingly more popular in recent times due to the advancement of technology, especially in the fields of miniaturization and telecommunications. The main problem of this research is the relatively untested sensing capability of a mobile wireless sensor network in an operating area that has distributed and/or multiple locations of high interest. The purpose of this research is to discover the compatibility of a multiple-agent coverage control system with several examples of interest functions that have multiple and/or distributed points of global maximum value in order to explore more thoroughly the performance of a given system in a varying environments.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"51 1","pages":"74 - 80"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82791565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/9
O. Kozlov, Y. Kondratenko, Hanna Lysiuk, Viktoriia Kryvda, O. Maksymova
Abstract This paper is devoted to the issues of the fuzzy automatic control of the pyrolysis process of municipal solid waste (MSW) of variable composition and moisture content. The fuzzy control method that is developed and studied makes it possible to carry out the proper automatic control of a pyrolysis plant with the determination of the optimal ratio of air/MSW for various types of waste and with different moisture content values to ensure high efficiency of the MSW disposal process. The effectiveness study of the proposed fuzzy control method is performed in this paper on a specific example, in particular, when automating the pyrolysis plant for MSW disposal with a reactor volume of 250 liters. The obtained simulation results confirm the high efficiency of the developed method, as well as the feasibility of its use for designing automatic control systems of various pyrolysis plants that operate under conditions of changes in the composition and moisture content of input waste.
{"title":"Fuzzy Automatic Control of the Pyrolysis Process for the Municipal Solid Waste of Variable Composition","authors":"O. Kozlov, Y. Kondratenko, Hanna Lysiuk, Viktoriia Kryvda, O. Maksymova","doi":"10.14313/jamris/1-2022/9","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/9","url":null,"abstract":"Abstract This paper is devoted to the issues of the fuzzy automatic control of the pyrolysis process of municipal solid waste (MSW) of variable composition and moisture content. The fuzzy control method that is developed and studied makes it possible to carry out the proper automatic control of a pyrolysis plant with the determination of the optimal ratio of air/MSW for various types of waste and with different moisture content values to ensure high efficiency of the MSW disposal process. The effectiveness study of the proposed fuzzy control method is performed in this paper on a specific example, in particular, when automating the pyrolysis plant for MSW disposal with a reactor volume of 250 liters. The obtained simulation results confirm the high efficiency of the developed method, as well as the feasibility of its use for designing automatic control systems of various pyrolysis plants that operate under conditions of changes in the composition and moisture content of input waste.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"39 1","pages":"83 - 94"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83209594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/5
M. Pająk, Marcin Racław, R. Piotrowski
Abstract The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows tracking of the current position of each axis. This can be used to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows one to tune parameters of the controllers for both control loops: inner, related to the speed of the robot; outer, related to its position.
{"title":"Prototype and Design of Six-Axis Robotic Manipulator","authors":"M. Pająk, Marcin Racław, R. Piotrowski","doi":"10.14313/jamris/1-2022/5","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/5","url":null,"abstract":"Abstract The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows tracking of the current position of each axis. This can be used to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows one to tune parameters of the controllers for both control loops: inner, related to the speed of the robot; outer, related to its position.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"118 1","pages":"46 - 52"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76092825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/1
N. Giannoccaro, T. Nishida, A. Lay-Ekuakille, R. Velázquez, Paolo Visconti
Abstract In this paper, the processing of the data of a 3D light detection and distance measurement (LiDAR) sensor mounted on a mobile robot is demonstrated, introducing an innovative methodology to manage the data and extract useful information. The LiDAR sensor is placed on a mobile robot which has a modular design that permits the easy change of the number of wheels, was designed to travel through several environments, and saves energy by changing the number and arrangement of the wheels in each environment. In addition, the robot can recognize landmarks in a structured environment by using a classification technique on each frame acquired by the LiDAR. Furthermore, considering the experimental tests, a new simple algorithm based on the LiDAR data processing together with the inertial data (IMU sensor) through a Kalman filter is proposed to characterize the robot’s pose by the surrounding environment with fixed landmarks. Finally, the limits of the proposed algorithm have been analyzed, highlighting new improvements in the future prospective development for permitting autonomous navigation and environment perception with a simple, modular, and low-cost device.
{"title":"Processing of LiDAR and IMU Data for Target Detection and Odometry of a Mobile Robot","authors":"N. Giannoccaro, T. Nishida, A. Lay-Ekuakille, R. Velázquez, Paolo Visconti","doi":"10.14313/jamris/1-2022/1","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/1","url":null,"abstract":"Abstract In this paper, the processing of the data of a 3D light detection and distance measurement (LiDAR) sensor mounted on a mobile robot is demonstrated, introducing an innovative methodology to manage the data and extract useful information. The LiDAR sensor is placed on a mobile robot which has a modular design that permits the easy change of the number of wheels, was designed to travel through several environments, and saves energy by changing the number and arrangement of the wheels in each environment. In addition, the robot can recognize landmarks in a structured environment by using a classification technique on each frame acquired by the LiDAR. Furthermore, considering the experimental tests, a new simple algorithm based on the LiDAR data processing together with the inertial data (IMU sensor) through a Kalman filter is proposed to characterize the robot’s pose by the surrounding environment with fixed landmarks. Finally, the limits of the proposed algorithm have been analyzed, highlighting new improvements in the future prospective development for permitting autonomous navigation and environment perception with a simple, modular, and low-cost device.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"48 1","pages":"3 - 13"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78174153","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/8
B. Bamberger, Bastian Körber
Abstract This research should help scholars and practitioners to manage the transition of monolithic legacy application systems to microservices and to better understand the migration process, its steps, and its characteristics. It should also provide guidance on how best to approach the migration process. We performed a systematic literature review and analyzed migration approaches presented by other research. We propose leveraging Robotic Process Automation technology to extract business logic and create and deploy bots, which are then used to mimic microservices. In essence, this represents a novel use case of integrating RPA technology into the migration approach in order to reduce uncertainty and risk of failure.
{"title":"Migrating Monoliths to Microservices Integrating Robotic Process Automation into the Migration Approach","authors":"B. Bamberger, Bastian Körber","doi":"10.14313/jamris/1-2022/8","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/8","url":null,"abstract":"Abstract This research should help scholars and practitioners to manage the transition of monolithic legacy application systems to microservices and to better understand the migration process, its steps, and its characteristics. It should also provide guidance on how best to approach the migration process. We performed a systematic literature review and analyzed migration approaches presented by other research. We propose leveraging Robotic Process Automation technology to extract business logic and create and deploy bots, which are then used to mimic microservices. In essence, this represents a novel use case of integrating RPA technology into the migration approach in order to reduce uncertainty and risk of failure.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"7 1","pages":"72 - 82"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78888990","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/6
I. Korobiichuk, Hrybkov Serhii, O. Seidykh, V. Ovcharuk, A.V. Ovcharuk
Abstract This developed modified ant colony algorithm includes an additional improvement with local optimization methods, which reduces the time required to find a solution to the problem of optimization of combinatorial order sequence planning in a food enterprise. The planning problem requires consideration of a number of partial criteria, constraints, and an evaluation function to determine the effectiveness of the established version of the order fulfillment plan. The partial criteria used are: terms of storage of raw materials and finished products, possibilities of occurrence and processing of substandard products, terms of manufacturing orders, peculiarities of fulfillment of each individual order, peculiarities of use of technological equipment, expenses for storage and transportation of manufactured products to the end consumer, etc. The solution of such a problem is impossible using traditional methods. The proposed algorithm allows users to build and reconfigure plans, while reducing the time to find the optimum by almost 20% compared to other versions of algorithms.
{"title":"Development of a Modified Ant Colony Algorithm for Order Scheduling in Food Processing Plants","authors":"I. Korobiichuk, Hrybkov Serhii, O. Seidykh, V. Ovcharuk, A.V. Ovcharuk","doi":"10.14313/jamris/1-2022/6","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/6","url":null,"abstract":"Abstract This developed modified ant colony algorithm includes an additional improvement with local optimization methods, which reduces the time required to find a solution to the problem of optimization of combinatorial order sequence planning in a food enterprise. The planning problem requires consideration of a number of partial criteria, constraints, and an evaluation function to determine the effectiveness of the established version of the order fulfillment plan. The partial criteria used are: terms of storage of raw materials and finished products, possibilities of occurrence and processing of substandard products, terms of manufacturing orders, peculiarities of fulfillment of each individual order, peculiarities of use of technological equipment, expenses for storage and transportation of manufactured products to the end consumer, etc. The solution of such a problem is impossible using traditional methods. The proposed algorithm allows users to build and reconfigure plans, while reducing the time to find the optimum by almost 20% compared to other versions of algorithms.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"28 1","pages":"53 - 61"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83814854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/7
Jyoti Kukad, Swapnil Soner, Sagar Pandya
Abstract Nowadays, violence has a major impact in society. Violence metrics increasing very rapidly reveal a very alarming situation. Many violent events go unnoticed. Over the last few years, autonomous vehicles have been used to observe and recognize abnormalities in human behavior and to classify them as crimes or not. Detecting crime on live streams requires classifying an event as a crime or not a crime and generating alerts to designated authorities, who can in turn take the required actions and assess the security of the city. There is currently a need for this kind of effective techniques for live video stream processing in computer vision. There are many techniques that can be used, but Long Short-Term Memory (LSTM) networks and OpenCV provide the most accurate prediction for this task. OpenCV is used for the task of object detection in computer vision, which will take the input from either a drone or any autonomous vehicle. LSTM is used to classify any event or behavior as a crime or not. This live stream is also encrypted using the Elliptic curve algorithm for more security of data against any manipulation. Through its ability to sense its surroundings, an autonomous vehicle is able to operate itself and execute critical activities without the need for human interaction. Much crowd-based crimes like mob lynching and individual crimes like murder, burglary, and terrorism can be protected against with advanced deep learning-based Anamoly detection techniques. With this proposed system, object detection is possible with approximately 90% accuracy. After analyzing all the data, it is sent to the nearest concern department to provide the remedial approach or protect from any crime. This system helps to enhance surveillance and decrease the crime rate in society.
{"title":"Autonomous Anomaly Detection System for Crime Monitoring and Alert Generation","authors":"Jyoti Kukad, Swapnil Soner, Sagar Pandya","doi":"10.14313/jamris/1-2022/7","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/7","url":null,"abstract":"Abstract Nowadays, violence has a major impact in society. Violence metrics increasing very rapidly reveal a very alarming situation. Many violent events go unnoticed. Over the last few years, autonomous vehicles have been used to observe and recognize abnormalities in human behavior and to classify them as crimes or not. Detecting crime on live streams requires classifying an event as a crime or not a crime and generating alerts to designated authorities, who can in turn take the required actions and assess the security of the city. There is currently a need for this kind of effective techniques for live video stream processing in computer vision. There are many techniques that can be used, but Long Short-Term Memory (LSTM) networks and OpenCV provide the most accurate prediction for this task. OpenCV is used for the task of object detection in computer vision, which will take the input from either a drone or any autonomous vehicle. LSTM is used to classify any event or behavior as a crime or not. This live stream is also encrypted using the Elliptic curve algorithm for more security of data against any manipulation. Through its ability to sense its surroundings, an autonomous vehicle is able to operate itself and execute critical activities without the need for human interaction. Much crowd-based crimes like mob lynching and individual crimes like murder, burglary, and terrorism can be protected against with advanced deep learning-based Anamoly detection techniques. With this proposed system, object detection is possible with approximately 90% accuracy. After analyzing all the data, it is sent to the nearest concern department to provide the remedial approach or protect from any crime. This system helps to enhance surveillance and decrease the crime rate in society.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"184 1","pages":"62 - 71"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75677851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/3
Tomasz Krakówka, A. Typiak, M. Cader
Abstract This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.
{"title":"Selection of Manipulator Configuration for a Portable Robot for Special Tasks","authors":"Tomasz Krakówka, A. Typiak, M. Cader","doi":"10.14313/jamris/1-2022/3","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/3","url":null,"abstract":"Abstract This paper presents a method of selection of configuration for manipulators of portable robots for special purposes. An analysis of tasks and related requirements for the functionality of the manipulator was presented on the example of the portable PIAP Patrol robot. From the set of robot tasks, the tasks that had the greatest impact on the manipulator parameters were selected. Both kinematic and static criteria were used as the basis for adopting the objective function. With the use of multi-criteria optimization tools, the manipulator configuration parameters were selected. Selected working capacities were maximized while ensuring that the imposed requirements for mass and kinematic limitations were met. The results of simulation tests were presented, and the scope of further work has been outlined.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"40 2 1","pages":"21 - 30"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80913734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-01DOI: 10.14313/jamris/1-2022/4
A. Kumaar, Sreeja Kochuvila, S. Nagaraja
Abstract Path planning plays a vital role in a mobile robot navigation system. It essentially generates the shortest traversable path between two given points. There are many path planning algorithms that have been proposed by researchers all over the world; however, there is very little work focussing on path planning for a service environment. The general assumption is that either the environment is fully known or unknown. Both cases would not be suitable for a service environment. A fully known environment will restrict further expansion in terms of the number of navigation points and an unknown environment would give an inefficient path. Unlike other environments, service environments have certain factors to be considered, like user-friendliness, repeatability, scalability, and portability, which are very essential for a service robot. In this paper, a simple, efficient, robust, and environment-independent path planning algorithm for an indoor mobile service robot is presented. Initially, the robot is trained to navigate to all the possible destinations sequentially with a minimal user interface, which will ensure that the robot knows partial paths in the environment. With the trained data, the path planning algorithm maps all the logical paths between all the destinations, which helps in autonomous navigation. The algorithm is implemented and tested using a 2D simulator Player/Stage. The proposed system is tested with two different service environment layouts and proved to have features like scalability, trainability, accuracy, and repeatability. The algorithm is compared with various classical path planning algorithms and the results show that the proposed path planning algorithm is on par with the other algorithms in terms of accuracy and efficient path generation.
{"title":"A Scalable Tree Based Path Planning for a Service Robot","authors":"A. Kumaar, Sreeja Kochuvila, S. Nagaraja","doi":"10.14313/jamris/1-2022/4","DOIUrl":"https://doi.org/10.14313/jamris/1-2022/4","url":null,"abstract":"Abstract Path planning plays a vital role in a mobile robot navigation system. It essentially generates the shortest traversable path between two given points. There are many path planning algorithms that have been proposed by researchers all over the world; however, there is very little work focussing on path planning for a service environment. The general assumption is that either the environment is fully known or unknown. Both cases would not be suitable for a service environment. A fully known environment will restrict further expansion in terms of the number of navigation points and an unknown environment would give an inefficient path. Unlike other environments, service environments have certain factors to be considered, like user-friendliness, repeatability, scalability, and portability, which are very essential for a service robot. In this paper, a simple, efficient, robust, and environment-independent path planning algorithm for an indoor mobile service robot is presented. Initially, the robot is trained to navigate to all the possible destinations sequentially with a minimal user interface, which will ensure that the robot knows partial paths in the environment. With the trained data, the path planning algorithm maps all the logical paths between all the destinations, which helps in autonomous navigation. The algorithm is implemented and tested using a 2D simulator Player/Stage. The proposed system is tested with two different service environment layouts and proved to have features like scalability, trainability, accuracy, and repeatability. The algorithm is compared with various classical path planning algorithms and the results show that the proposed path planning algorithm is on par with the other algorithms in terms of accuracy and efficient path generation.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"29 1","pages":"31 - 45"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80072579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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