Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments
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Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to the D* Lite algorithm and results are presented.In the last section, the parameters of the robot are optimized using biogeography-based optimization (BBO). This is an efficient multivariable optimizer and it is shown that the results of optimization achieve significant improvement in robot navigation performance.In this thesis, we show that using evolutionary optimization methods like BBO can reduce the risk of collision and the navigation time by about 25% each. The resulting risk of collision indicates safe navigation by the robot which leads to the conclusion that this is a feasible method for real-world robots.
Safe Robot Navigation Among Moving and Steady Obstacles
Author: Andrey V. Savkin
language: en
Publisher: Butterworth-Heinemann
Release Date: 2015-09-25
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. - First book on collision free reactive robot navigation in unknown dynamic environments - Bridges the gap between mathematical model and practical algorithms - Presents implementable and computationally efficient algorithms of robot navigation - Includes mathematically rigorous proofs of their convergence - A detailed review of existing reactive navigation algorithm for obstacle avoidance - Describes fundamentals of sliding mode control
Autonomous Navigation in Dynamic Environments
This book presents a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions. It addresses the challenging problem of autonomous navigation in dynamic environments, presenting new ideas and approaches in this emerging technical domain. Coverage discusses in detail various related challenging technical aspects and addresses upcoming technologies in this field.