GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System
| Main Authors: | Nurhafizah Anual, Siti; Universiti Kebangsaan Malaysia, Faisal Ibrahim, Mohd; Universiti Kebangsaan Malaysia, Ibrahim, Nurhana; Universiti Kebangsaan Malaysia, Hussain, Aini; Universiti Kebangsaan Malaysia, Marzuki Mustafa, Mohd; Universiti Kebangsaan Malaysia, Baseri Huddin, Aqilah; Universiti Kebangsaan Malaysia, Hanim Hashim, Fazida; Universiti Kebangsaan Malaysia |
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| Format: | Article info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
Institute of Advanced Engineering and Science
, 2018
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| Subjects: | |
| Online Access: |
http://journal.portalgaruda.org/index.php/EEI/article/view/1275 http://journal.portalgaruda.org/index.php/EEI/article/view/1275/853 |
Daftar Isi:
- 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.