Ga-based optimisation of a lidar feedback autonomous mobile robot navigation system

Siti Nurhafizah Anual, Mohd Faisal Ibrahim, Nurhana Ibrahim, Aini Hussain, Mohd. Marzuki Mustafa, Aqilah Baseri Huddin, Fazida Hanim Hashim

Research output: Contribution to journalArticle

1 Citation (Scopus)

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.

Original languageEnglish
Pages (from-to)433-441
Number of pages9
JournalBulletin of Electrical Engineering and Informatics
Volume7
Issue number3
DOIs
Publication statusPublished - 1 Sep 2018

Fingerprint

Autonomous Mobile Robot
Robot Navigation
Lidar
Navigation System
Optical radar
Navigation systems
navigation
robots
optical radar
Mobile robots
Feedback
optimization
Optimization
Navigation
Genetic algorithms
Genetic Algorithm
genetic algorithms
Multicomponent Systems
Autonomous Navigation
Autonomous Robots

Keywords

  • Autonomous robot navigation
  • GA optimization
  • Path planning

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Hardware and Architecture
  • Computer Networks and Communications
  • Control and Optimization
  • Electrical and Electronic Engineering

Cite this

Ga-based optimisation of a lidar feedback autonomous mobile robot navigation system. / Anual, Siti Nurhafizah; Ibrahim, Mohd Faisal; Ibrahim, Nurhana; Hussain, Aini; Mustafa, Mohd. Marzuki; Huddin, Aqilah Baseri; Hashim, Fazida Hanim.

In: Bulletin of Electrical Engineering and Informatics, Vol. 7, No. 3, 01.09.2018, p. 433-441.

Research output: Contribution to journalArticle

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