Chaudhary, Kaylash C. and Prasad, Avinesh and Chand, Vishal and Shariff, Ahmed and Lal, Avinesh (2024) A Solution to Collinear Problem in Lyapunov - Based Control Scheme. In: Proceedings of Congress on Control, Robotics, and Mechatronics. Smart Innovation, Systems and Technologies . Springer Nature, Singapore, pp. 285-295. ISBN 978-981-99-5520-6
Full text not available from this repository.Abstract
Robots are widely used to carry out various tasks in different industries worldwide. The movement of a robot is necessary for any task accomplishment. While moving, a robot must prevent collisions with obstacles to reach its destination successfully. The motion control algorithm governs a robot’s movement. One such method is Lyapunov-based control scheme (LbCS). LbCS is a popular method for controlling a robot’s motion, but the technique suffers from a problem known as collinear. This problem occurs when a robot, an obstacle, and a target are in a linear position, which gets the method trapped into local minima. This paper tackles this problem using a heuristic-based method, ant colony optimization (ACO). The ACO will be activated when the LbCS gets trapped in local minima. This paper presents an algorithm, ACO-LbCS, that solves the collinear problem of LbCS. This hybrid algorithm has been strategically formulated using ACO and LbCS. The algorithm has been applied to multiple obstacle’s environment. The results show that the problem of local minima has been solved by the proposed algorithm.
| Item Type: | Book Chapter |
|---|---|
| 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 01:16 |
| Last Modified: | 25 Apr 2025 01:16 |
| URI: | https://repository.usp.ac.fj/id/eprint/14941 |
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