Robot Path Planning Performance Evaluation of a Dynamic Environment
Journal Title: IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) - Year 2018, Vol 13, Issue 6
Abstract
In the recent times, there are tremendous demands for application of robots in in military, industrial and academic communities. The aim of this research work is to bridge the gap to plan a trajectory and minimizing the path lengths and arrest the problems that has to do with collisions of a mobile robot with static and moveable obstacle in dynamic environment. In this work, an intelligent approach and user-friendly module for navigation of a mobile robot in dynamic environment with the use of particle swarm optimization (PSO) algorithm was realized and the path planning parameter performance used are MSE, RMSE and AAE. The design and implementation of PSO algorithm and computer simulations were done using MATLAB 2018a with hardware configuration of Intel(R) Core(TM) i5-2410M CPU @ 2.30GHz, 2301 Mhz, 2 Core(s), 4 Logical Processor(s). The main contribution of this research work is to produce an accurate, and fast planning performance evaluation model and convergence to optimize the path length, time taken and smart in response to static and dynamic obstacles. Overall, the developed simulator provided satisfactory results for various configurations of static and dynamic obstacles.
Authors and Affiliations
T. A Badmos, P. O Omolaye, J. Mebawondu, H. A. Aliyu
Keywords
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