A multi-objective parametric algorithm for sensor-based navigation in uncharted terrains

Research output: Contribution to journalArticle

Abstract

Sensor-based motion planning is one the most challenging tasks in robotics where various approaches and algorithms have been proposed to achieve different planning goals. However, these approaches only focus on one single objective, i.e. path optimality, path safety, efficiency or trajectory smoothness. In this paper, a novel parametric algorithm is proposed that is able to handle different planning goals by means of a set of objective-controller parameters. These parameters are designed carefully to cover different requirements of the path planner. Readings of the sensors will be evaluated to determine the values of four decision variables and the next position of the robot will be selected accordingly. The performance of the proposed algorithm was tested through simulation studies in different types of environments to evaluate its ability to achieve different planning goals. Simulation studies have shown the algorithm to perform robust and effective in all environments.

Original languageEnglish
Pages (from-to)115-119
Number of pages5
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume5
Issue number2
DOIs
Publication statusPublished - 2016

Fingerprint

Navigation
Sensors
Planning
Motion planning
Robotics
Trajectories
Robots
Controllers

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering

Cite this

@article{85968aa9225c49aabb8b1d3cb72b6653,
title = "A multi-objective parametric algorithm for sensor-based navigation in uncharted terrains",
abstract = "Sensor-based motion planning is one the most challenging tasks in robotics where various approaches and algorithms have been proposed to achieve different planning goals. However, these approaches only focus on one single objective, i.e. path optimality, path safety, efficiency or trajectory smoothness. In this paper, a novel parametric algorithm is proposed that is able to handle different planning goals by means of a set of objective-controller parameters. These parameters are designed carefully to cover different requirements of the path planner. Readings of the sensors will be evaluated to determine the values of four decision variables and the next position of the robot will be selected accordingly. The performance of the proposed algorithm was tested through simulation studies in different types of environments to evaluate its ability to achieve different planning goals. Simulation studies have shown the algorithm to perform robust and effective in all environments.",
author = "Weria Khaksar and {Mohamed Sahari}, {Khairul Salleh}",
year = "2016",
doi = "10.18178/ijmerr.5.2.115-119",
language = "English",
volume = "5",
pages = "115--119",
journal = "International Journal of Mechanical Engineering and Robotics Research",
issn = "2278-0149",
publisher = "International Journal of Mechanical Engineering and Robotics Research",
number = "2",

}

TY - JOUR

T1 - A multi-objective parametric algorithm for sensor-based navigation in uncharted terrains

AU - Khaksar, Weria

AU - Mohamed Sahari, Khairul Salleh

PY - 2016

Y1 - 2016

N2 - Sensor-based motion planning is one the most challenging tasks in robotics where various approaches and algorithms have been proposed to achieve different planning goals. However, these approaches only focus on one single objective, i.e. path optimality, path safety, efficiency or trajectory smoothness. In this paper, a novel parametric algorithm is proposed that is able to handle different planning goals by means of a set of objective-controller parameters. These parameters are designed carefully to cover different requirements of the path planner. Readings of the sensors will be evaluated to determine the values of four decision variables and the next position of the robot will be selected accordingly. The performance of the proposed algorithm was tested through simulation studies in different types of environments to evaluate its ability to achieve different planning goals. Simulation studies have shown the algorithm to perform robust and effective in all environments.

AB - Sensor-based motion planning is one the most challenging tasks in robotics where various approaches and algorithms have been proposed to achieve different planning goals. However, these approaches only focus on one single objective, i.e. path optimality, path safety, efficiency or trajectory smoothness. In this paper, a novel parametric algorithm is proposed that is able to handle different planning goals by means of a set of objective-controller parameters. These parameters are designed carefully to cover different requirements of the path planner. Readings of the sensors will be evaluated to determine the values of four decision variables and the next position of the robot will be selected accordingly. The performance of the proposed algorithm was tested through simulation studies in different types of environments to evaluate its ability to achieve different planning goals. Simulation studies have shown the algorithm to perform robust and effective in all environments.

UR - http://www.scopus.com/inward/record.url?scp=85006264101&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85006264101&partnerID=8YFLogxK

U2 - 10.18178/ijmerr.5.2.115-119

DO - 10.18178/ijmerr.5.2.115-119

M3 - Article

VL - 5

SP - 115

EP - 119

JO - International Journal of Mechanical Engineering and Robotics Research

JF - International Journal of Mechanical Engineering and Robotics Research

SN - 2278-0149

IS - 2

ER -