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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) Indonesian Journal of Electrical Engineering and Computer Science
Rosli Omar
Universiti Tun Hussein Onn Malaysia
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Efficient robotic path planning algorithm based on artificial potential field Elia Nadira Sabudin; Rosli Omar; Sanjoy Kumar Debnath; Muhammad Suhaimi Sulong
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 6: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i6.pp4840-4849

Abstract

Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.
Frequency based signal processing technique for pulse modulation ground penetrating radar system Che Ku Nor Azie Hailma Che Ku Melor; Ariffuddin Joret; Maryanti Razali; Asmarashid Ponniran; Muhammad Suhaimi Sulong; Rosli Omar
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 5: October 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i5.pp4104-4112

Abstract

This paper discusses the method of processing the pulse modulation (PM) ground penetrating radar (GPR) system to detect an embedded object underground. The proposed technique is using frequency domain operation which can be classified based on two parameters which are magnitude and phase. The process of detecting the position and depth of iron objects in dry sandy soil is easier to identify using the techniques and parameters that have been introduced. The selection of the Dipole antenna as a sensor device to detect iron objects has been designed in a frequency range of 70 MHz to 80 MHz. Based on the simulation, the proposed technique seems to be able to detect underground iron objects. By using the magnitude value, the underground iron object that can be detected as displayed in GPR radargram is in the depth range from 0 mm until 1000 mm. Meanwhile, by using the phase value, the embedded underground iron object detected is in the range of depth between 900 mm and 1000 mm. Therefore, based on this promising result, the proposed technique and parameters are considered to be used in
Flight cost calculation for unmanned air vehicle based on path length and heading angle change Sanjoy Kumar Debnath; Rosli Omar; B.S.S.K. Ibrahim; Susama Bagchi; Elia Nadira; Faisal Amin; Bashir Bala Muhammad
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 11, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (335.058 KB) | DOI: 10.11591/ijpeds.v11.i1.pp382-389

Abstract

This paper proposes a method to calculate a flight cost of an unmanned aerial vehicle (UAV) considering its change of heading angle though there are many reasons that cause the energy consumption. The proposed approach demonstrates that when a UAV moves from a starting position/point to a target/goal position/point, if the number of obstacle increases, the number of heading change would also increase. As a result, it raises the energy consumption of the UAV. It also shows that the magnitude of heading change would affect the energy consumption proportionally. The theoretical analysis as well as the simulation outcome proves the usefulness of the proposed technique. 
A review on graph search algorithms for optimal energy efficient path planning for an unmanned air vehicle Sanjoy Kumar Debnath; Rosli Omar; Nor Badariyah Abdul Latip; Shasha Shely; Elia Nadira; Che Ku Nor Che Ku Melor; Tapan Kumar Chakraborty; Elango Natarajan
Indonesian Journal of Electrical Engineering and Computer Science Vol 15, No 2: August 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v15.i2.pp743-749

Abstract

Unmanned Air Vehicle (UAV) has attracted attention in recent years in conducting missions for longer time with higher levels of autonomy. For the enhanced autonomous characteristic of UAV, path planning is one of the crucial issues. Current researches on the graph search algorithms under combinatorial method are mainly reviewed in this paper by keeping focus on the comprehensive surveys of its properties for path planning. The outcome is a pen picture of their assumptions and drawbacks.
Comparison of different configuration space representations for path planning under combinatorial method Sanjoy Kumar Debnath; Rosli Omar; Nor Badariyah Abdul Latip
Indonesian Journal of Electrical Engineering and Computer Science Vol 14, No 1: April 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v14.i1.pp1-8

Abstract

The use of autonomous vehicle/robot has been adopted widely to replace human beings in performing dangerous missions in adverse environments. Keeping this in mind, path planning ensures that the autonomous vehicle must safely arrive to its destination with required criteria like lower computation time, shortest travelled path and completeness. There are few kinds of path planning strategies, such as combinatorial method, sampling based method and bio-inspired method. Among them, combinatorial method can accomplish couple of criteria without further adjustment in conventional algorithm. Configuration space provides detailed information about the position of all points in the system and it is the space for all configurations. Therefore, C-space denotes the actual free space zone for the movement of robot and guarantees that the vehicle or robot must not collide with the obstacle. This paper analyses different C-Space representation techniques under combinatorial method based on the past researches and their findings with different criteria such as optimality, completeness, safety, memory uses, real time and computational time etc. Visibility Graph has optimality which is a unique from other
Co-Authors Ariffuddin Joret Asmarashid Ponniran B.S.S.K. Ibrahim Bashir Bala Muhammad Che Ku Nor Azie Hailma Che Ku Melor Che Ku Nor Che Ku Melor Elango Natarajan Elia Nadira Elia Nadira Sabudin Faisal Amin Maryanti Razali Muhammad Suhaimi Sulong Nor Badariyah Abdul Latip Sanjoy Kumar Debnath Shasha Shely Susama Bagchi Tapan Kumar Chakraborty