Analysis on Intelligent Based Navigation and Path Finding of Autonomous Mobile Robot
01 Jan 2015-pp 219-232
TL;DR: This review paper focused on usage of Radio Frequency Identification (RFID) technology in path-finding and navigation for an autonomous mobile robot.
Abstract: Path-finding is a fundamental problem, which involves for solving a planning problem seeking optimal paths from start state to a goal state. This review paper focused on usage of Radio Frequency Identification (RFID) technology in path-finding and navigation for an autonomous mobile robot. The RFID tags (IC tags) are used for the purpose of tracing the current co-ordinate/location of the Robot. Various searching algorithms are analyzed for the purpose towards navigation of mobile robot. Different soft-computing techniques like Genetic Algorithm, Neural Network, and Fuzzy Logic are considered. This research also focused on some hybrid algorithm for path-finding and navigation of mobile robot. Different methods like cellular automata, Network Simplex Method, Complete Coverage Navigation etc. are also studied.
Citations
More filters
TL;DR: In this article, a collision-free low-complexity mobile robot navigation scheme called Collision Aware Mobile Robot navigation in Grid-Environment is designed, which uses the Radio Frequency based Identification method for Mobile Robot localization, the hybrid approach for the path planning, and a predefined decision table for the navigation.
49 citations
TL;DR: This paper presents a comprehensive review on localization system, problems, principle and approaches for mobile robots, and classify the localization problems in to three categories based on the information of initial position of the robot.
43 citations
01 Jan 2022
TL;DR: In this paper , an efficient low-complexity path-finding algorithm for autonomous mobile robot in a grid-based environment is presented by using a hybrid approach which combines the greedy strategy with proposed improving BFS (I-BFS) algorithm.
Abstract: This paper brings an efficient low complexity path-finding algorithm for autonomous mobile robot in a grid-based environment. Research is carried out by using a hybrid approach which combines the greedy strategy with proposed improving BFS (I-BFS) algorithm. A robot adopts localization strategy based on the environment in which it is employed. The radio frequency identification (RFID)-based localization is quite challenging and is adopted by various authors for localizing robots in indoor environment. The proposed navigation algorithm utilizes RFID technique for positioning the mobile robot which is a substitute for existing vision-based approaches. The added features like both obstacle detection and avoidance are the most promising factor of the proposed methodology. The methodology generated an optimal shortest path in an unknown grid-structured environment through repeated exploration. In this paper, both computationally effective and cost-efficient solution is made for an alternative to several mobile robot navigation algorithms. The navigation algorithm presented here can be used for autonomous vehicular robot employed in different environments like buildings, hospitals, shopping malls, etc., for effective path planning. The simulation result establishes the efficiency of the proposed navigation algorithm.
1 citations
TL;DR: In this paper , a software implementation of the breadth-first and depth-first search algorithms has been developed, which is based on pseudo and program codes, which are based on the while loop, where the queue of checked graph vertices is processed.
Abstract: Purpose of research. The research presented in this article is aimed at improving the speed of finding a path for the movement route of robots. The scientific novelty is the obtained correlation of time and field size.Methods. To find the path in the maze, the depth-first search and breadth-first search algorithms were used, the basis of which is the cyclic processing of adjacent previously unvisited graph vertices. Performance is estimated in terms of the speed of program code execution on prepared samples. Scientific novelty was obtained by studying the influence of map sizes on the performance of depth-first and breadth-first search algorithms.Results. A software implementation of breadth-first and depth-first search algorithms has been developed. The article provides a more detailed description of the breadth-first search algorithm in the form of pseudo and program codes, which are based on the while loop, where the queue of checked graph vertices is processed. Based on the evaluation of the speed of the found path, it was concluded that the breadth-first search is not the fastest. Based on the assessment of the influence of various factors on the speed of the algorithm, it was concluded that an increase in the size of the field, a decrease in the number of obstacles and a distance between the starting and final points increases the execution time of the algorithm.Conclusion. The breadth-first search algorithm and its software implementation were presented. In the course of experimental studies, it was found that this algorithm is not the fastest in time, but in all tests, it found the shortest path. The correlation ta = f(w, h) was also obtained for the prepared samples of the desired field, which is expressed as the dependence of the algorithm execution time on the length and width of the field. And we can conclude that it is applicable for finding the movement path of robots, since it always finds the shortest path.
1 citations
References
More filters
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Abstract: This paper describes a collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects. The algorithm transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object. A trajectory of this reference point which avoids all forbidden regions is free of collisions. Trajectories are found by searching a network which indicates, for each vertex in the transformed obstacles, which other vertices can be reached safely.
2,396 citations
01 Jan 1984
TL;DR: This book presents, characterizes and analyzes problem solving strategies that are guided by heuristic information and provides examples of how these strategies have changed over time.
Abstract: This book presents, characterizes and analyzes problem solving strategies that are guided by heuristic information
2,090 citations
TL;DR: A new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space is proposed and a planner based on this approach has been implemented.
Abstract: We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. A planner based on this approach has been implemented. This planner is consider ably faster than previous path planners and solves prob lems for robots with many more degrees of freedom (DOFs). The power of the planner derives both from the "good" properties of the potential function and from the efficiency of the techniques used to escape the local min ima of this function. The most powerful of these tech niques is a Monte Carlo technique that escapes local min ima by executing Brownian motions. The overall approach is made possible by the systematic use of distributed rep resentations (bitmaps) for the robot's work space and configuration space. We have experimented with the plan ner using several computer-simulated robots, including rigid objects with 3 DOFs (in 2D work space) and 6 DOFs (in 3D work space) and ...
1,097 citations
Book•
01 Apr 1984TL;DR: In this article, the authors present, characterizes and analyzes problem solving strategies that are guided by heuristic information, and characterise and analyze problem-solving strategies with heuristics.
Abstract: This book presents, characterizes and analyzes problem solving strategies that are guided by heuristic information
908 citations
06 Jul 2004
TL;DR: A probabilistic measurement model for RFID readers that allow us to accurately localize RFID tags in the environment and demonstrates how such maps can be used to localize a robot and persons in their environment.
Abstract: We analyze whether radio frequency identification (RFID) technology can be used to improve the localization of mobile robots and persons in their environment. In particular we study the problem of localizing RFID tags with a mobile platform that is equipped with a pair of RFID antennas. We present a probabilistic measurement model for RFID readers that allow us to accurately localize RFID tags in the environment. We also demonstrate how such maps can be used to localize a robot and persons in their environment. Finally, we present experiments illustrating that the computational requirements for global robot localization can be reduced strongly by fusing RFID information with laser data.
770 citations
"Analysis on Intelligent Based Navig..." refers background in this paper
...3 C om pl et e co ve ra ge na vi ga tio n of cl ea ni ng ro bo ts us in g tr ia ng ul ar ce ll ba se d m ap [2 5] Jo on Se op O h et al ....
[...]
...3 A pr os pe ct iv e fu zz y lo gi c ap pr oa ch to kn ow le dg eba se d na vi ga tio n of m ob ile L E G O -R ob ot [1 5] H ru da ya K u....
[...]
...5 M ap pi ng an d lo ca liz at io n w ith R FI D te ch no lo gy [5 ] D ir k H ih ne l et al ....
[...]