Path Planning Based on Fuzzy Decision Trees and Potential Field

The fuzzy logic algorithm is an artificial intelligence algorithm that uses mathematical logic to solve to by the data value inputs which are not precise in order to reach an accurate conclusion. In this work, Fuzzy decision tree (FDT) has been designed to solve the path planning problem by considering all available information and make the most appropriate decision given by the inputs. The FDT is often used to make a path planning decision in graph theory. It has been applied in the previous researches in the field of robotics, but it still shows drawbacks in that the robot will stop at the local minima and is not able to find the shortest path. Hence, this paper combines the FDT algorithm with the potential field algorithm. The potential field algorithm provides weight to the FDT algorithm which enables the robot to successfully avoid the local minima and find the shortest path

Time-efficient A* Algorithm for Robot Path Planning

AbstractThe current era is mainly focused on the modernization, industrialization, automation and development. For which, the human task are replaced by robots to achieve good accuracy, high efficiency, speed and multiplicity. In industries, these robots are employed to carry heavy objects in working place. As the environment or working area may be dynamically changing, the algorithm or the rules must be devised to ensure an optimistic collision-free path. A* algorithm is a heuristic function based algorithm for proper path planning. It calculates heuristic function's value at each node on the work area and involves the checking of too many adjacent nodes for finding the optimal solution with zero probability of collision. Hence, it takes much processing time and decreases the work speed. The modifications in A* algorithm for reducing the processing time are proposed in this paper. The proposed A* algorithm determines the heuristic function's value just before the collision phase rather than initially and exhibits a good decrement in processing time with higher speed. This paper involves MATLAB simulation of robot movement from source to goal. Several cases are considered with proposed A* algorithm which exhibit maximum 95% reduction in processing time

Path planning algorithms for autonomous navigation of a non-holonomic robot in unstructured environments

openPath planning is a crucial aspect of autonomous robot navigation, enabling robots to efficiently and safely navigate through complex environments. This thesis focuses on autonomous navigation for robots in dynamic and uncertain environments. In particular, the project aims to analyze the localization and path planning problems. A fundamental review of the existing literature on path planning algorithms has been carried on. Various factors affecting path planning, such as sensor data fusion, map representation, and motion constraints, are also analyzed. Thanks to the collaboration with E80 Group S.p.A., the project has been developed using ROS (Robot Operating System) on a Clearpath Dingo-O, an indoor mobile robot. To address the challenges posed by unstructured and dynamic environments, ROS follows a combined approach of using a global planner and a local planner. The global planner generates a high-level path, considering the overall environment, while the local planner handles real-time adjustments to avoid moving obstacles and optimize the trajectory. This thesis describes the role of the global planner in a ROS-framework. Performance benchmarking of traditional algorithms like Dijkstra and A*, as well as other techniques, is fundamental in order to understand the limits of these methods. In the end, the Hybrid A* algorithm is introduced as a promising approach for addressing the issues of unstructured environments for autonomous navigation of a non-holonomic robot. The core concepts and implementation details of the algorithm are discussed, emphasizing its ability to efficiently explore continuous state spaces and generate drivable paths.The effectiveness of the proposed path planning algorithms is evaluated through extensive simulations and real-world experiments using the mobile platform. Performance metrics such as path length, execution time, and collision avoidance are analyzed to assess the efficiency and reliability of the algorithms.Path planning is a crucial aspect of autonomous robot navigation, enabling robots to efficiently and safely navigate through complex environments. This thesis focuses on autonomous navigation for robots in dynamic and uncertain environments. In particular, the project aims to analyze the localization and path planning problems. A fundamental review of the existing literature on path planning algorithms has been carried on. Various factors affecting path planning, such as sensor data fusion, map representation, and motion constraints, are also analyzed. Thanks to the collaboration with E80 Group S.p.A., the project has been developed using ROS (Robot Operating System) on a Clearpath Dingo-O, an indoor mobile robot. To address the challenges posed by unstructured and dynamic environments, ROS follows a combined approach of using a global planner and a local planner. The global planner generates a high-level path, considering the overall environment, while the local planner handles real-time adjustments to avoid moving obstacles and optimize the trajectory. This thesis describes the role of the global planner in a ROS-framework. Performance benchmarking of traditional algorithms like Dijkstra and A*, as well as other techniques, is fundamental in order to understand the limits of these methods. In the end, the Hybrid A* algorithm is introduced as a promising approach for addressing the issues of unstructured environments for autonomous navigation of a non-holonomic robot. The core concepts and implementation details of the algorithm are discussed, emphasizing its ability to efficiently explore continuous state spaces and generate drivable paths.The effectiveness of the proposed path planning algorithms is evaluated through extensive simulations and real-world experiments using the mobile platform. Performance metrics such as path length, execution time, and collision avoidance are analyzed to assess the efficiency and reliability of the algorithms

Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration

This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight environment presentation method and an efficient cooperative exploration strategy. For lower bandwidth, each robot utilizes specific polytopes to maintains free space and super frontier information (SFI) as the source for exploration decision-making. To reduce repeated exploration, we develop a mission-based protocol that drives robots to share collected information in stable rendezvous. We also design a complete path planning scheme for both centralized and decentralized cases. To validate that our framework is practical and generic, we present an extensive benchmark and deploy our system into multi-UGV and multi-UAV platforms

A Comprehensive Approach to WSN-Based ITS Applications: A Survey

In order to perform sensing tasks, most current Intelligent Transportation Systems (ITS) rely on expensive sensors, which offer only limited functionality. A more recent trend consists of using Wireless Sensor Networks (WSN) for such purpose, which reduces the required investment and enables the development of new collaborative and intelligent applications that further contribute to improve both driving safety and traffic efficiency. This paper surveys the application of WSNs to such ITS scenarios, tackling the main issues that may arise when developing these systems. The paper is divided into sections which address different matters including vehicle detection and classification as well as the selection of appropriate communication protocols, network architecture, topology and some important design parameters. In addition, in line with the multiplicity of different technologies that take part in ITS, it does not consider WSNs just as stand-alone systems, but also as key components of heterogeneous systems cooperating along with other technologies employed in vehicular scenarios

The relationship between service marketing mix, service quality, service value and customer satisfaction in commercial car parking facilities

The role of car park facilities in economic activities, properties market and human life is imperative. The population growth and vehicle possession in tandem with the rapid development of building construction to support commercial activities in cities with scarcity of parking space, have been well identified and have become a major concern in Malaysia. This phenomenon has raised several issues that affect the satisfaction of the Malaysian public as users of car park facilities. One of the recommended solutions was to have excellent parking services but why the Malaysian public is still not satisfied with how car park facilities are being managed is a puzzle. Based on the problem statement, this study focused on the relationships between service marketing mix, service quality, service value, and customer satisfaction of commercial car parking facilities in Malaysia. The study’s research framework was supported by the Stimulus-Organism-Response theory. Three of the four main constructs namely service marketing mix, service quality and service value were conceptualised as second order construct and assessed via the reflective-formative approach. Customer satisfaction which acted as a dependent variable was measured reflectively through six multi items. All the items in the study’s variables were assessed using the 7-point Likert scale. Data was derived from 182 car park customers who subscribed to monthly season passes from selected private offices in the Klang Valley. The response rate of 23%, was analysed using the SPSS and the SmartPLS software. This study found that the priority of mix elements were varied through the non-parametric Friedman Test and all direct relationships between service marketing mix, service quality, service value and customer satisfaction were found significant through the PLS-SEM methodology. Four indirect effect hypotheses to examine the role of service quality and service value as mediators were accepted as partial mediation. The study findings were discussed thoroughly and concluded with a discussion on the implications, the limitation of the study and recommendations for future study

Navigation and Accessibility for Persons with Disabilities: An Anthropological Study Using GIS on the University of Arkansas Campus

The University of Arkansas was founded in 1871 on the top of a hill overlooking the Ozark Mountains, resulting in a campus that has steep slopes and numerous historical buildings that were not designed with ADA regulations in mind. This makes getting around campus especially difficult for students with limited mobility, and no campus maps exist that include handicapped accessibility features to help navigate the terrain and limited parking options. This study examines this issue using a holistic approach that explores cultural and technological factors to produce a map of the Historic Core District of campus. Geographical Information Systems enable studying the accessibility of the campus from an integrative perspective. My research includes overlaying digitized campus features onto a Digital Elevation Model to determine how slope, distance, and placement of features (buildings, stairways, curbs) determine accessibility. Such models can help plan optimal locations for handicapped parking, bus stops and accessible entrances. They can also be used by anyone seeking to find the best route across campus. The goal is an interactive on-line map available through the University website. This would facilitate navigation for all who desire to benefit from the opportunities available on this beautiful campus by highlighting the best routes and options for travel and parking. The problems surrounding navigation and accessibility on the U of A campus are not merely technical. If solutions are to be effective they will need to take into consideration the cultural factors in which these problems are embedded. These factors are multi-faceted, extending their reach through the community, student body and numerous University departments. The interplay between these players is complex with regard to the exchange of information, resource allocation and influence regarding decision making. Anthropology is especially suited for examining these cultural factors in order to improve understanding and communication between all parties with the ultimate goal of creating a campus that is truly inclusive and accessible for everyone

Sistemas de suporte à condução autónoma adequados a plataforma robótica 4-wheel skid-steer: percepção, movimento e simulação

As competições de robótica móvel desempenham papel preponderante na difusão da ciência e da engenharia ao público em geral. E também um espaço dedicado ao ensaio e comparação de diferentes estratégias e abordagens aos diversos desafios da robótica móvel. Uma das vertentes que tem reunido maior interesse nos promotores deste género de iniciativas e entre o público em geral são as competições de condução autónoma. Tipicamente as Competi¸c˜oes de Condução Autónoma (CCA) tentam reproduzir um ambiente semelhante a uma estrutura rodoviária tradicional, no qual sistemas autónomos deverão dar resposta a um conjunto variado de desafios que vão desde a deteção da faixa de rodagem `a interação com distintos elementos que compõem uma estrutura rodoviária típica, do planeamento trajetórias à localização. O objectivo desta dissertação de mestrado visa documentar o processo de desenho e concepção de uma plataforma robótica móvel do tipo 4-wheel skid-steer para realização de tarefas de condução autónoma em ambiente estruturado numa pista que pretende replicar uma via de circulação automóvel dotada de sinalética básica e alguns obstáculos. Paralelamente, a dissertação pretende também fazer uma análise qualitativa entre o processo de simulação e a sua transposição para uma plataforma robótica física. inferir sobre a diferenças de performance e de comportamento.Mobile robotics competitions play an important role in the diffusion of science and engineering to the general public. It is also a space dedicated to test and compare different strategies and approaches to several challenges of mobile robotics. One of the aspects that has attracted more the interest of promoters for this kind of initiatives and general public is the autonomous driving competitions. Typically, Autonomous Driving Competitions (CCAs) attempt to replicate an environment similar to a traditional road structure, in which autonomous systems should respond to a wide variety of challenges ranging from lane detection to interaction with distinct elements that exist in a typical road structure, from planning trajectories to location. The aim of this master’s thesis is to document the process of designing and endow a 4-wheel skid-steer mobile robotic platform to carry out autonomous driving tasks in a structured environment on a track that intends to replicate a motorized roadway including signs and obstacles. In parallel, the dissertation also intends to make a qualitative analysis between the simulation process and the transposition of the developed algorithm to a physical robotic platform, analysing the differences in performance and behavior