- Title
- Agoraphilic navigation algorithm in dynamic environment with and without prediction of moving objects location
- Creator
- Hewawasam, Hasitha; Ibrahim, Yousef; Kahandawa, Gayan; Choudhury, Tanveer
- Date
- 2019
- Type
- Text; Conference proceedings; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/172350
- Identifier
- vital:14481
- Identifier
-
https://doi.org/10.1109/IECON.2019.8927145
- Identifier
- ISBN:9781728148786 (ISBN)
- Abstract
- This paper presents a summary of research conducted in performance improvement of Agoraphilic Navigation Algorithm under Dynamic Environment (ANADE). The ANADE is an optimistic navigation algorithm which is capable of navigating robots in static as well as in unknown dynamic environments. ANADE has been successfully extended the capacity of original Agoraphilic algorithm for static environment. However, it could identify that ANADE takes costly decisions when it is used in complex dynamic environments. The proposed algorithm in this paper has been successfully enhanced the performance of ANADE in terms of safe travel, speed variation, path length and travel time. The proposed algorithm uses a prediction methodology to estimate future growing free space passages which can be used for safe navigation of the robot. With motion prediction of moving objects, new set of future driving forces were developed. These forces has been combined with present driving force for safe and efficient navigation. Furthermore, the performances of proposed algorithm (Agoraphilic algorithm with prediction) was compared and benched-marked with ANADE (Without predication) under similar environment conditions. From the investigation results, it was observed that the proposed algorithm extends the effective decision making ability in a complex navigation environment. Moreover, the proposed algorithm navigated the robot in a shorter and quicker path with smooth speed variations. © 2019 IEEE.; E1
- Publisher
- IEEE Computer Society
- Relation
- 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 Vol. 2019-October, p. 5179-5185
- Rights
- Copyright @2019 IEEE
- Rights
- This metadata is freely available under a CCO license
- Rights
- Open Access
- Subject
- Agoraphilic algorithm; Artificial potential Field; Dynamically cluttered environment; Free Space; Mobile robot navigation; Prediction
- Full Text
- Reviewed
- Hits: 4019
- Visitors: 4063
- Downloads: 241
| Thumbnail | File | Description | Size | Format | |||
|---|---|---|---|---|---|---|---|
| View Details Download | SOURCE1 | Accepted | 1 MB | Adobe Acrobat PDF | View Details Download |