CFP last date
20 January 2025
Call for Paper
February Edition
IJCA solicits high quality original research papers for the upcoming February edition of the journal. The last date of research paper submission is 20 January 2025

Submit your paper
Know more
The week's pick
Responsive image
SFLA-Based Line Balancing and Task Optimization in Master-Slave Controlled Hanger Transportation Systems for Garment Production

Duc Hoang Nguyen
Random Articles
Reseach Article

Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation

by Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 97 - Number 11
Year of Publication: 2014
Authors: Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane
10.5120/17051-7228

Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane . Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation. International Journal of Computer Applications. 97, 11 ( July 2014), 13-18. DOI=10.5120/17051-7228

@article{ 10.5120/17051-7228,
author = { Min Raj Nepali, Amar Mani Aryal, Ashutosh, Kamal Lamichhane },
title = { Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation },
journal = { International Journal of Computer Applications },
issue_date = { July 2014 },
volume = { 97 },
number = { 11 },
month = { July },
year = { 2014 },
issn = { 0975-8887 },
pages = { 13-18 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume97/number11/17051-7228/ },
doi = { 10.5120/17051-7228 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:23:50.745473+05:30
%A Min Raj Nepali
%A Amar Mani Aryal
%A Ashutosh
%A Kamal Lamichhane
%T Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation
%J International Journal of Computer Applications
%@ 0975-8887
%V 97
%N 11
%P 13-18
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

It is a challenging task to make a mobile robot navigate to a desired goal in an environment with obstacles. It is sure that, just path planning algorithm will not be able to guide the robot to the desired goal in such environment. Certain kind of Obstacle avoiding algorithm is to be incorporated along with the path planning algorithm to achieve the aforementioned objective. Among the various existing algorithms an attempt to implement Bug algorithm and Virtual goal algorithm and the comparative study on the same was done. Numbers of experiments were conducted to draw the inference that, which algorithm is better. To conduct the experiments the algorithms were run in NXPLPC 1768 microcontroller. For detecting the Obstacles the system was equipped with a ring of eight sonar. For simulation MATLAB was used. The conclusion that, virtual goal method is better than the bug algorithm is drawn finally through number of experiments and observations.

References
  1. Iqbal, J. , Islam, R. U. , Khan, H. : Modeling and Analysis of a 6 DOF Robotic Arm Manipulator, Canadian Journal on Electrical and Electronics Engineering, vol. 3, no. 6, pp. 300-306 (2012)
  2. Islam, R. U. , Iqbal, J. , Manzoor, S. , Khalid, A. , Khan, S. : An autonomous image-guided robotic system simulating industrial applications, IEEE International Conference on System of Systems Engineering (SoSE), Italy, pp. 344-349 (2012)
  3. Iqbal, J. , Nabi, R. U. , Khan, A. A. , Khan, H. : A Novel Track-Drive Mobile Robotic Framework for Conducting Projects on Robotics and Control Systems. Life Sci J, ISSN
  4. 1097-8135, vol. 10 (3), pp. 130-137 (2013)
  5. Iqbal, J. , Tahir, A. , Islam, R. U. , Nabi, R. U. : Challenges and Future Perspectives, IEEE International Conference on Applied Robotics for the Power Industry (CARPI), Switzerland, pp. 151-156 (2012)
  6. Keiji, N. , Kushleyev, A. , Daniel D. Lee. : Sensor Information Processing in Robot Competitions and Real World Robotic Challenges. Advanced Robotics vol. 26(14), pp. 1539-1554 (2012) 6. Zhu, Y. , Zhang, T. , Song, J. , Li. , X. : A New Hybrid Navigation Algorithm for Mobile Robots in Environments with Incomplete Knowledge, Knowledge-Based Systems vol. 27, pp. 302-313 (2012)
  7. Oussama Khatib. Real time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research, 5(1):90–98, 1986.
  8. Yasushi Yagi, Hiroyuki Nagai, Kazumasa Yamazawa, and Masahiko Yachida. Reactive visual navigation based on omnidirectional sensing ? path following and collision avoidance. Journal of Intelligent and Robotic Systems, 31(4):379–395, 2001.
  9. F. Belkhouche and B. Belkhouche. A method for robot navigation toward a moving goal with unknown maneuvers. Robotica, 23(6):709–720, 2005.
  10. Ahmed Benzerrouk, Lounis Adouane, and Philippe Martinet. Lyapunov global stability for reactive mobile robot navigation in presence of obstacles. In Proceedings of the ICRA10 Workshop on Robotics and Intelligent Transportation System, Alaska, USA, 2010.
  11. Krogh, B. H. and Thorpe, C. E. , "Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles. " Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco, California, April 7-10, 1986, pp. 1664-1669.
  12. Moravec, H. P. and Elfes, A. , "High Resolution Maps from Wide Angle Sonar. " IEEE Conference on Robotics and Automation, Washington D. C. , 1985, pp. 116-121.
  13. Eilove, R. B. , "Local Obstacle Avoidance for Mobile Robots Based on the Method of Artificial Potentials. " General Motors Research Laboratories, Research Publication GMR-6650, September 1989.
  14. Jun Zhou, Bolandhemmat. H, "Integrated INS/GPS System for an Autonomous Mobile Vehicle", International Conference on Mechatronics and Automation, ICMA, pp. 694-699, 2007.
  15. Samadzadegan, FAbdi, "Autonomous navigation of Unmanned Aerial Vehicles based on multi-sensor data fusion", 20th Iranian Conference on Electrical Engineering (ICEE), pp. 868 – 873, 2012.
Index Terms

Computer Science
Information Sciences

Keywords

Autonomous Mobile robots Robot navigation Obstacle avoidance Nonlinear control systems.

Powered by PhDFocusTM