GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System
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Published:2018-09-01
Issue:3
Volume:7
Page:433-441
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ISSN:2302-9285
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Container-title:Bulletin of Electrical Engineering and Informatics
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language:
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Short-container-title:Bulletin EEI
Author:
Nurhafizah Anual Siti,Faisal Ibrahim Mohd,Ibrahim Nurhana,Hussain Aini,Marzuki Mustafa Mohd,Baseri Huddin Aqilah,Hanim Hashim Fazida
Abstract
Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.
Publisher
Institute of Advanced Engineering and Science
Subject
Electrical and Electronic Engineering,Control and Optimization,Computer Networks and Communications,Hardware and Architecture,Instrumentation,Information Systems,Control and Systems Engineering,Computer Science (miscellaneous)
Cited by
2 articles.
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