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Multi-Objective Instantaneous Center of Rotation Optimization Using Sensors Feedback for Navigation in Self-Reconfigurable Pavement Sweeping Robot

Authors :
Lim Yi
Anh Vu Le
Joel Chan Cheng Hoong
Abdullah Aamir Hayat
Balakrishnan Ramalingam
Rajesh Elara Mohan
Kristor Leong
Karthikeyan Elangovan
Minh Tran
Minh V. Bui
Phan Van Duc
Source :
Mathematics, Vol 10, Iss 17, p 3169 (2022)
Publication Year :
2022
Publisher :
MDPI AG, 2022.

Abstract

Pavement in outdoor settings is an unstructured environment with sharp corners, varying widths, and pedestrian activity that poses navigation challenges while cleaning for autonomous systems. In this work, an approach towards navigating without collision in constrained pavement spaces using the optimal instantaneous center of rotation (ICR) is demonstrated using an in-house developed omnidirectional reconfigurable robot named Panthera. The Panthera reconfigurable design results in varying footprints, supported by passive linear joints along the robot width, with locomotion and steering action using four wheels independent steering drive (4WISD). The robot kinematics and perception sensors system are discussed. Further, the ICR selection is carried out using multi-objective optimization, considering functions for steering, varying width, distance, and clearance to avoid a collision. The framework is incorporated in a local navigation planner and demonstrated experimentally in real pavement settings. The results with optimal selection of ICR in two dimensional space within the robot footprint successfully perform smooth navigation in the constraint space. It is experimentally highlighted with four different scenarios, i.e., constraint conditions encountered by a robot during navigation. Moreover, the formulation of optimal selection of ICR while avoiding collision is generic and can be used for other mobile robot architectures.

Details

Language :
English
ISSN :
22277390
Volume :
10
Issue :
17
Database :
Directory of Open Access Journals
Journal :
Mathematics
Publication Type :
Academic Journal
Accession number :
edsdoj.5bc0cfedfdb543c888c4aa04f17d2265
Document Type :
article
Full Text :
https://doi.org/10.3390/math10173169