Agoraphilic navigation algorithm in dynamic environment with and without prediction of moving objects location
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2019
- Type: Text , Conference proceedings , Conference paper
- Relation: 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 Vol. 2019-October, p. 5179-5185
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- Description: 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.
- Description: E1
Agoraphilic navigation algorithm in dynamic environment with obstacles motion tracking and prediction
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2022
- Type: Text , Journal article
- Relation: Robotica Vol. 40, no. 2 (2022), p. 329-347
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- Description: This paper presents a new algorithm to navigate robots in dynamically cluttered environments. The proposed algorithm uses basic concepts of space attraction (hence the term Agoraphilic) to navigate robots through dynamic obstacles. The new algorithm in this paper is an advanced development of the original Agoraphilic navigation algorithm that was only able to navigate robots in static environments. The Agoraphilic algorithm does not look for obstacles (problems) to avoid but rather for a free space (solutions) to follow. Therefore, it is also described as an optimistic navigation algorithm. This algorithm uses only one attractive force created by the available free space. The free-space concept allows the Agoraphilic algorithm to overcome inherited challenges of general navigation algorithms. However, the original Agoraphilic algorithm has the limitation in navigating robots only in static, not in dynamic environments. The presented algorithm was developed to address this limitation of the original Agoraphilic algorithm. The new algorithm uses a developed object tracking module to identify the time-varying free spaces by tracking moving obstacles. The capacity of the algorithm was further strengthened by the new prediction module. Future space prediction allowed the algorithm to make decisions considering future growing/diminishing free spaces. This paper also includes a bench-marking study of the new algorithm compared with a recently published APF-based algorithm under a similar operating environment. Furthermore, the algorithm was validated based on experimental tests and simulation tests. © 2022 Cambridge University Press. All rights reserved.
Comparative study on object tracking algorithms for mobile robot navigation in GPS-denied environment
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer
- Date: 2019
- Type: Text , Conference proceedings
- Relation: 2019 IEEE International Conference on Industrial Technology, ICIT 2019; Melbourne, Australia; 13th-15th February 2019 Vol. 2019-February, p. 19-26
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- Description: This paper presents a comparative study conducted on the performance of the commonly used object tracking and location prediction algorithms for mobile robot navigation in a dynamically cluttered and GPS-denied mining environment. The study was done to test the different algorithms for the same set criteria (such as accuracy and computational time) under the same conditions.The identified commonly used algorithms for object tracking and location prediction of moving objects used in this investigation are Kalman filter (KF), extended Kalman filter (EKF) and particle filter (PF). The study results of those algorithms are analyzed and discussed in this paper. A trade-off was apparent. However, in overall performance KF has shown its competitiveness.The result from the study has found that the KF based algorithm provides better performance in terms of accuracy in tracking dynamic objects under commonly used benchmarks. This finding can be used in development of an efficient robot navigation algorithm.
- Description: Proceedings of the IEEE International Conference on Industrial Technology
Development and bench-marking of agoraphilic navigation algorithm in dynamic environment
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan , Choudhury, Tanveer , IEEE
- Date: 2019
- Type: Text , Book chapter
- Relation: 2019 IEEE 28th International Symposium on Industrial Electronics p. 1156-1161
- Full Text: false
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- Description: This paper presents a summary of research which was conducted in developing a new human-like navigation methodology based on the Agoraphilic algorithm. This new methodology is capable of maneuvering robots in both static and dynamically clutter unknown environments. The Agoraphilic algorithm is an "optimistic" navigation algorithm. The algorithm is based on free space attraction rather than repulsion of obstacles for navigation. Therefore, this algorithm directs robots to follow the free space leading to the goal instead of avoiding obstacles. This approach has eliminated many draw backs of the traditional APF algorithm. However, the major limitation of the previously developed Agoraphilic algorithm could only deal with static environment. The new proposed algorithm has successfully extended the capacity of Agoraphilic algorithm to deal with environment cluttered with dynamic obstacles. The new Agoraphilic algorithm uses a tracking and prediction methodology to estimate the path of unknown moving objects. The estimated locations of the moving objects are combined with static object locations in the robot's visible region to generate time-varying free space attractive forces. These time varying forces maneuver the robot to the goal in dynamically cluttered unknown environment without collusions. To demonstrate the algorithm's ability, several simulations were performed. Furthermore, the new algorithm was tested and bench-marked against other APF published work under similar environment and conditions. The comparative results are discussed and showed the effectiveness of the new Algoraphilic navigation algorithm.