Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala Overview of Robotic Overview of Robotic Path Planning Path Planning Rahul Kala, Department of Information Technology Indian Institute of Information Technology and Management Gwalior http://students.iiitm.ac.in/~ipg_200545/ [email protected], [email protected]
Overview of Robotic Path Planning. Rahul Kala, Department of Information Technology Indian Institute of Information Technology and Management Gwalior http://students.iiitm.ac.in/~ipg_200545/ [email protected], [email protected]. Publications. - PowerPoint PPT Presentation
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Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
Overview of Robotic Path Overview of Robotic Path PlanningPlanning
Rahul Kala,
Department of Information Technology
Indian Institute of Information Technology and Management Gwalior
Multi Neuron Heuristic Search, Proceedings of the ACM 2009 International Conference on Computer Sciences and Convergence Information Technology, ICCIT 2009, pp 1318-1323, Seoul, Korea
Kala, Rahul, Shukla, Anupam, Tiwari, Ritu, Roongta, Sourabh & Janghel, RR (2009) Mobile Robot Navigation Control in Moving Obstacle Environment using Genetic Algorithm, Artificial Neural Networks and A* Algorithm, Proceedings of the IEEE World Congress on Computer Science and Information Engineering, CSIE 2009, pp 705-713, Los Angeles/Anaheim, USA
Shukla, Anupam, Tiwari, Ritu & Kala, Rahul (2008), Mobile Robot Navigation Control in Moving Obstacle Environment using A* Algorithm, Proceedings of the International conference on Artificial Neural Networks in Engineering, ANNIE 2008, Intelligent Systems Engineering Systems through Artificial Neural Networks, ASME Publications, Vol. 18, pp 113-120, Nov 2008
Shukla, Anupam, Tiwari, Ritu, Kala, Rahul (2009) Mobile Robot Navigation Control in Moving Obstacle Environment using Genetic Algorithms and Artificial Neural Networks, International Journal of Artificial Intelligence and Computational Research, Vol. 1, No. 1, pp 1-12, June 2009
MOBILE ROBOT MOBILE ROBOT PATH PLANNING PATH PLANNING
Research in
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
The Problem Statement The Problem Statement Inputs◦Robotic Map◦Location of Obstacles◦Static and Dynamic
Constraints◦Time Constraints◦Dimensionality of Map◦Static and Dynamic
EnvironmentOutput
• Path P such that no collision occurs
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
Existing Algorithms:Existing Algorithms:
A* AlgorithmArtificial Neural
NetworksGenetic AlgorithmsMulti-Neuron Heuristic
Search (MNHS)Neuro-Fuzzy
Self designed Algorithms:Self designed Algorithms:
Multi Algorithms/Hierarchical Algorithms
Hierarchal MNHSHierarchical A* with
Genetically Optimized Fuzzy Inference System
Evolving Robotic Path with Genetically Optimized Fuzzy Inference System
Swarm Intelligence etc
Problem Implementation by
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
A* AlgorithmA* Algorithm“I believe this is this way takes me
shortest to the destination…. Lets give it a try”
“Hey I got struck… I’ll choose another path”
Add all possible moves in an open list.Make the best move as per open list
statusAdd all executed moves in the closed list
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
ResultsResults
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
ANN with Back Propagation ANN with Back Propagation AlgorithmAlgorithm
“Whenever this type of situation arrives… Always make this move”
“Hey rules failed… I’m struck… OK make random moves till you are out”
Frame input/output pairs for every situation comprising of robot position, goal position and environment
Learn these and use them in decision makingMake random moves when position
deteriorates
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
ResultsResults
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala
Genetic AlgorithmsGenetic Algorithms“Show me some random paths so that I may
decide”
“OK this path is the best to go till a point and this path the best for the other part of the
journey… Let me mix them both…”
Generate random complete and incomplete solutions: source to nowhere, nowhere to goal and source to goal
Try to mix paths to attain optimalityGenerate random paths between needed
points
Department of Information Communication Technology
Indian Institute of Information Technology and Management Gwalior Rahul Kala