Chaudhary, Kaylash C. and Chand, Vishal and Prasad, Avinesh and Sharma, Bibhya N. (2024) Robot motion control using dual avoidance scheme. Engineered Science, 32 . NA. ISSN 2576-988X
Full text not available from this repository.Abstract
This paper presents a novel hybrid algorithm, BAT-LbCS, designed to enhance dynamic path planning for robots by integrating BAT optimization and Lyapunov-based control (LbCS). Traditional path-planning methods often struggle with challenges such as local minima entrapment and slow convergence, particularly in dynamic environments with moving obstacles. BAT-LbCS addresses these issues by leveraging the strengths of both BAT optimization and LbCS, creating a robust and efficient solution for collision-free navigation. The BAT optimization algorithm is used to determine the next step by generating a point that avoids static obstacles. Meanwhile, the LbCS method ensures safe movement from the current location to the new location, effectively handling dynamic obstacles. This dual-avoidance mechanism is achieved through a feedback loop where the output of the BAT algorithm (the coordinates of the next step) is continuously fed into the LbCS. The process iterates until the robot reaches its target destination. The proposed algorithm's effectiveness was validated through two case studies involving a point-mass robot navigating environments with varying numbers of static and dynamic obstacles. Results demonstrated the robot's ability to successfully avoid both types of obstacles and reach its destination. Additionally, the algorithm was applied to a car-like robot, which also navigated successfully, further proving the versatility and robustness of BAT-LbCS. This hybrid algorithm holds significant potential for application in various dynamic environment settings, such as retail, healthcare, and agriculture. By providing an optimized and safe planned path with effective motion control, BAT-LbCS offers a substantial advancement in the field of robotic navigation.
| Item Type: | Journal Article |
|---|---|
| Subjects: | Q Science > QA Mathematics Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) |
| Depositing User: | Ms Shalni Sanjana |
| Date Deposited: | 25 Apr 2025 00:50 |
| Last Modified: | 25 Apr 2025 00:50 |
| URI: | https://repository.usp.ac.fj/id/eprint/14938 |
Actions (login required)
 |
View Item |