Machine learning-based agoraphilic navigation algorithm for use in dynamic environments with a moving goal
- Authors: Hewawasam, Hasitha , Kahandawa, Gayan , Ibrahim, Yousef
- Date: 2023
- Type: Text , Journal article
- Relation: Machines Vol. 11, no. 5 (2023), p. 513
- Full Text:
- Reviewed:
- Description: This paper presents a novel development of a new machine learning-based control system for the Agoraphilic (free-space attraction) concept of navigating robots in unknown dynamic environments with a moving goal. Furthermore, this paper presents a new methodology to generate training and testing datasets to develop a machine learning-based module to improve the performances of Agoraphilic algorithms. The new algorithm presented in this paper utilises the free-space attraction (Agoraphilic) concept to safely navigate a mobile robot in a dynamically cluttered environment with a moving goal. The algorithm uses tracking and prediction strategies to estimate the position and velocity vectors of detected moving obstacles and the goal. This predictive methodology enables the algorithm to identify and incorporate potential future growing free-space passages towards the moving goal. This is supported by the new machine learning-based controller designed specifically to efficiently account for the high uncertainties inherent in the robot’s operational environment with a moving goal at a reduced computational cost. This paper also includes comparative and experimental results to demonstrate the improvements of the algorithm after introducing the machine learning technique. The presented experiments demonstrated the success of the algorithm in navigating robots in dynamic environments with the challenge of a moving goal.
A novel optimistic local path planner : agoraphilic navigation algorithm in dynamic environment
- Authors: Hewawasam, Hasitha , Ibrahim, Yousef , Kahandawa, Gayan
- Date: 2022
- Type: Text , Journal article
- Relation: Machines Vol. 10, no. 11 (2022), p.
- Full Text:
- Reviewed:
- Description: This paper presents a novel local path planning algorithm developed based on the new free space attraction (Agoraphilic) concept. The proposed algorithm is capable of navigating robots in unknown static, as well as dynamically cluttered environments. Unlike the other navigation algorithms, the proposed algorithm takes the optimistic approach of the navigation problem. It does not look for problems to avoid, but rather for solutions to follow. This human-like decision-making behaviour distinguishes the new algorithm from all the other navigation algorithms. Furthermore, the new algorithm utilises newly developed tracking and prediction algorithms, to safely navigate mobile robots. This is further supported by a fuzzy logic controller designed to efficiently account for the inherent high uncertainties in the robot’s operational environment at a reduced computational cost. This paper also includes physical experimental results combined with bench-marking against other recent methods. The reported results verify the algorithm’s successful advantages in navigating robots in both static and dynamic environments. © 2022 by the authors.
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
- Full Text: false
- Reviewed:
- 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.
Views of American and Australian mobility device users and ambulant bus users regarding occupant restraint systems on public buses
- Authors: Unsworth, Carolyn , Baker, Anne , Brito, Sara , Das Neves, B. , Dickson, N. , Gohil, Apeksha , Kahandawa, Gayan , Naweed, Anjum , Timmer, Amanda
- Date: 2022
- Type: Text , Journal article
- Relation: Journal of Transport and Health Vol. 25, no. (2022), p.
- Full Text: false
- Reviewed:
- Description: Introduction: With an ageing population, increasing numbers of people are using mobility devices, such as wheelchairs or scooters, whilst travelling on public route buses. The regulations and availability of active (wheelchair tie down and occupant restraint systems or WTORS) and passive (rearward facing) mobility device restraint systems on buses varies between countries. To date few studies have investigated passenger feedback on the use of restraint systems. This study aimed to gather feedback about WTORS on buses from passengers where these are in use (United States) and not in routine use (Australia) to guide decisions on their introduction. Methods: A prospective study using a purpose-designed electronic survey. Participants, predominantly recruited by Qualtrics, comprised two groups; mobility device and ambulant bus users in two countries; Australia and the United States (US). Results: The 448 participants rated the top two most important factors when deciding if buses should have WTORS as safety and comfort. Ninety-two percent of respondents believed people using mobility devices should use a WTORS which was rated 7.66/10 (SD1.97) as effective to prevent injuries to self or others. Only a minority of participants (13.2%) had ever slid or fallen from their mobility device, or seen a person slide or fall (13.6%) while on a bus with no differences between countries despite WTORS not being in use in Australia. Respondents reported it was OK to delay a journey an average of 5.52 (SD 2.89) minutes to secure/release a restraint system, which compares favourably to literature-reported real time of one to 4 min. Conclusions: Although WTORS were widely perceived by participants as important for safety, questions concerning their effectiveness to prevent slide or tip remain. Prior to the introduction of any securement system in Australia, the effectiveness of passive occupant containment systems to prevent slide or tip also warrants investigation. © 2022
Extraction and processing of real time strain of embedded FBG sensors using a fixed filter FBG circuit and an artificial neural network
- Authors: Kahandawa, Gayan , Epaarachchi, Jayantha , Wang, Hao , Canning, John , Lau, Alan
- Date: 2013
- Type: Text , Journal article
- Relation: Measurement: Journal of the International Measurement Confederation Vol. 46, no. 10 (2013), p. 4045-4051
- Full Text:
- Reviewed:
- Description: Fibre Bragg Grating (FBG) sensors have been used in the development of structural health monitoring (SHM) and damage detection systems for advanced composite structures over several decades. Unfortunately, to date only a handful of appropriate configurations and algorithm sare available for using in SHM systems have been developed. This paper reveals a novel configuration of FBG sensors to acquire strain reading and an integrated statistical approach to analyse data in real time. The proposed configuration has proven its capability to overcome practical constraints and the engineering challenges associated with FBG-based SHM systems. A fixed filter decoding system and an integrated artificial neural network algorithm for extracting strain from embedded FBG sensor were proposed and experimentally proved. Furthermore, the laboratory level experimental data was used to verify the accuracy of the system and it was found that the error levels were less than 0.3% in predictions. The developed SMH system using this technology has been submitted to US patent office and will be available for use of aerospace applications in due course. © 2013 Elsevier Ltd. All rights reserved.