Alpha-N: Shortest Path Finder Automated Delivery Robot with Obstacle Detection and Avoiding System

Alpha N A self-powered, wheel driven Automated Delivery Robot is presented in this paper. The ADR is capable of navigating autonomously by detecting and avoiding objects or obstacles in its path. It uses a vector map of the path and calculates the shortest path by Grid Count Method of Dijkstra Algorithm. Landmark determination with Radio Frequency Identification tags are placed in the path for identification and verification of source and destination, and also for the recalibration of the current position. On the other hand, an Object Detection Module is built by Faster RCNN with VGGNet16 architecture for supporting path planning by detecting and recognizing obstacles. The Path Planning System is combined with the output of the GCM, the RFID Reading System and also by the binary results of ODM. This PPS requires a minimum speed of 200 RPM and 75 seconds duration for the robot to successfully relocate its position by reading an RFID tag. In the result analysis phase, the ODM exhibits an accuracy of 83.75 percent, RRS shows 92.3 percent accuracy and the PPS maintains an accuracy of 85.3 percent. Stacking all these 3 modules, the ADR is built, tested and validated which shows significant improvement in terms of performance and usability comparing with other service robots.Comment: 12 pages, 7 figures, To be appear in the proceedings of 12th Asian Conference on Intelligent Information and Database Systems 23-26 March 2020 Phuket, Thailan

Optimal path planning of multiple nanoparticles in continuous environment using a novel Adaptive Genetic Algorithm

This paper presents a novel Adaptive Genetic Algorithm for optimal path planning of multiple nanoparticles during the nanomanipulation process. The proposed approach determines the optimal manipulation path in the presence of surface roughness and environment obstacles by considering constraints imposed on the nanomanipulation process. In this research, first by discretizing the environment, an initial set of feasible paths were generated, and then, path optimization was continued in the original continuous environment (and not in the discrete environment). The presented novel approach for path planning in continuous environment (1) makes the algorithm independent of grid size, which is the main limitation in conventional path planning methods, and (2) creates a curve path, instead of piecewise linear one, which increases the accuracy and smoothness of the path considerably. Every path is evaluated based on three factors: the displacement effort (the area under critical force-time diagram during nanomanipulation), surface roughness along the path, and smoothness of the path. Using the weighted linear sum of the mentioned three factors as the objective function provides the opportunity to (1) find a path with optimal value for all factors, (2) increase/decrease the effect of a factor based on process considerations. While the former can be obtained by a simple weight tuning procedure introduced in this paper, the latter can be obtained by increasing/decreasing the weight value associated with a factor. In the case of multiple nanoparticles, a co-evolutionary adaptive algorithm is introduced to find the best destination for each nanoparticle, the best sequence of movement, and optimal path for each nanoparticle. By introducing two new operators, it was shown that the performance of the presented co-evolutionary mechanism outperforms the similar previous works. Finally, the proposed approach was also developed based on a modified Particle Swarm Optimization algorithm, and its performance was compared with the proposed Adaptive Genetic Algorithm. © 2018 Elsevier Inc.1