Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment

Suparna Roy; Dhrubojyoti Banerjee; Chiranjib Guha Majumder; Amit Amit Konar; R. Janarthanan

doi:doi:10.11648/j.acis.20130102.11

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Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment

Suparna Roy, Dhrubojyoti Banerjee, Chiranjib Guha Majumder, Amit Amit Konar, R. Janarthanan

Published in Automation, Control and Intelligent Systems (Volume 1, Issue 2)

Published: 2 April 2013

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Abstract

This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.

Published in	Automation, Control and Intelligent Systems (Volume 1, Issue 2)
DOI	10.11648/j.acis.20130102.11
Page(s)	16-23
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2013. Published by Science Publishing Group

Keywords

Linear Prediction, Particle Swarm Optimization, Multi-Robot Motion Planning

References

[1]	J. Kennedy, R. Eberhart, "Particle swarm optimization", In Proceedings of IEEE International conference on Neural Networks. (1995) 1942-1948.
[2]	Jayasree Chakroborty, Amit Konar, Aruna Chakroborty, "Multi-robot co-operation by Swarm and Evolutionary Algorithms".
[3]	M. Ryan, "Graph Decomposition for Efficient Multi-robot Path planning,"in Proceedings of the 20th International Joint Conference on Artificial Intelligence, pp. 2003-2008, Jan. 2007.
[4]	A.Fujimori and S. Tani, ‘A navigation of mobile robots with collision avoidance for moving obstacles’, in Proc. IEEE International Conference on Industrial Technology, Bangkok, Thailand, Dec. 2002, pp. 16.
[5]	F. van den Bergh and A.P. Engelbrecht, "Cooperative learning in neural networks using particle swarm optimizers," South African Computer Journal, 26:84-90, 2000.
[6]	T. Tsubouchi and M. Rude, "Motion planning for mobile robots in a time-varying environment", J. of Robotics and Mechatronics, Vol. 8, No. 1, pp. 15-24, 1996.
[7]	S. Ishikawa, "A method of indoor mobile robot navigation by using fuzzy control", in Proc. IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, pp. 1013-1018, 1991.
[8]	F. Kunwar, F. Wong, R. Ben Mrad, B. Benhabib, "Guidance-based online robot motion planning for the interception of mobile targets in dynamic environments", Journal of Intelligent and Robotic Systems, Vol. 47, Issue 4, pp. 341-360, 2006.
[9]	J. Minura, H. Uozumi, and Y. Shirai, "Mobile robot motion planning considering the motion uncertainty of moving obstacles", in Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo, pp. 692-698, 1999.

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APA Style

Suparna Roy, Dhrubojyoti Banerjee, Chiranjib Guha Majumder, Amit Amit Konar, R. Janarthanan. (2013). Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment. Automation, Control and Intelligent Systems, 1(2), 16-23. https://doi.org/10.11648/j.acis.20130102.11

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ACS Style

Suparna Roy; Dhrubojyoti Banerjee; Chiranjib Guha Majumder; Amit Amit Konar; R. Janarthanan. Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment. Autom. Control Intell. Syst. 2013, 1(2), 16-23. doi: 10.11648/j.acis.20130102.11

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AMA Style

Suparna Roy, Dhrubojyoti Banerjee, Chiranjib Guha Majumder, Amit Amit Konar, R. Janarthanan. Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment. Autom Control Intell Syst. 2013;1(2):16-23. doi: 10.11648/j.acis.20130102.11

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@article{10.11648/j.acis.20130102.11,
  author = {Suparna Roy and Dhrubojyoti Banerjee and Chiranjib Guha Majumder and Amit Amit Konar and R. Janarthanan},
  title = {Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment},
  journal = {Automation, Control and Intelligent Systems},
  volume = {1},
  number = {2},
  pages = {16-23},
  doi = {10.11648/j.acis.20130102.11},
  url = {https://doi.org/10.11648/j.acis.20130102.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20130102.11},
  abstract = {This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.},
 year = {2013}
}

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TY  - JOUR
T1  - Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment
AU  - Suparna Roy
AU  - Dhrubojyoti Banerjee
AU  - Chiranjib Guha Majumder
AU  - Amit Amit Konar
AU  - R. Janarthanan
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PY  - 2013
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DO  - 10.11648/j.acis.20130102.11
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 16
EP  - 23
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20130102.11
AB  - This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.
VL  - 1
IS  - 2
ER  -

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Author Information

Suparna Roy

ETCE Department, Jadavpur University, Kolkata-700032
Dhrubojyoti Banerjee

ETCE Department, Jadavpur University, Kolkata-700032
Chiranjib Guha Majumder

ETCE Department, Jadavpur University, Kolkata-700032
Amit Amit Konar

ETCE Department, Jadavpur University, Kolkata-700032
R. Janarthanan

Jaya College of Engineering, Chennai, Tamil Nadu

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Plain Text BibTeX RIS

APA Style

Suparna Roy, Dhrubojyoti Banerjee, Chiranjib Guha Majumder, Amit Amit Konar, R. Janarthanan. (2013). Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment. Automation, Control and Intelligent Systems, 1(2), 16-23. https://doi.org/10.11648/j.acis.20130102.11

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ACS Style

Suparna Roy; Dhrubojyoti Banerjee; Chiranjib Guha Majumder; Amit Amit Konar; R. Janarthanan. Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment. Autom. Control Intell. Syst. 2013, 1(2), 16-23. doi: 10.11648/j.acis.20130102.11

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AMA Style

Suparna Roy, Dhrubojyoti Banerjee, Chiranjib Guha Majumder, Amit Amit Konar, R. Janarthanan. Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment. Autom Control Intell Syst. 2013;1(2):16-23. doi: 10.11648/j.acis.20130102.11

Copy | Download

@article{10.11648/j.acis.20130102.11,
  author = {Suparna Roy and Dhrubojyoti Banerjee and Chiranjib Guha Majumder and Amit Amit Konar and R. Janarthanan},
  title = {Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment},
  journal = {Automation, Control and Intelligent Systems},
  volume = {1},
  number = {2},
  pages = {16-23},
  doi = {10.11648/j.acis.20130102.11},
  url = {https://doi.org/10.11648/j.acis.20130102.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20130102.11},
  abstract = {This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.},
 year = {2013}
}

Copy | Download

TY  - JOUR
T1  - Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment
AU  - Suparna Roy
AU  - Dhrubojyoti Banerjee
AU  - Chiranjib Guha Majumder
AU  - Amit Amit Konar
AU  - R. Janarthanan
Y1  - 2013/04/02
PY  - 2013
N1  - https://doi.org/10.11648/j.acis.20130102.11
DO  - 10.11648/j.acis.20130102.11
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 16
EP  - 23
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20130102.11
AB  - This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simula-tion environment then the entire work has been implemented on Khepera II mobile robot. The performance of the above mentioned approach has been found to be satisfactory compared to the classical non-predictive approaches of dynamic obstacle avoidance.
VL  - 1
IS  - 2
ER  -

Copy | Download