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All Journal IAES International Journal of Artificial Intelligence (IJ-AI) Indonesian Journal of Electrical Engineering and Computer Science
Ajoy Kumar Dutta
Jadavpur University
Computer Science & IT Engineering

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Development of path planning algorithm of centipede inspired wheeled robot in presence of static and moving obstacles using modified critical-snakebug algorithm Subir Kumar Das; Ajoy Kumar Dutta; Subir Kumar Debnath
IAES International Journal of Artificial Intelligence (IJ-AI) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (592.351 KB) | DOI: 10.11591/ijai.v8.i2.pp95-106

Abstract

Path planning for a movable robot in real life situation has been widely cultivated and become research interest for last few decades. Biomimetic robots have increased attraction for their capability to develop various kind of walking in order to navigate in different environment. To meet this requirement of natural insect locomotion has enabled the development of composite tiny robots. Almost all insect-scale legged robots take motivation from stiff-body hexapods; though, a different distinctive organism we find in nature is centipede, distinguished by its numerous legs and pliable body. This uniqueness is anticipated to present performance benefits to build robot of the said type in terms of swiftness, steadiness, toughness, and adaptation ability. This paper proposes a local path planning algorithm of multiple rake centipede inspired robot namely ModifiedCritical-SnakeBug (MCSB) algorithm. Algorithm tries to avoid static and dynamic obstacle both. The results demonstrate the capability of the algorithm. 
OperativeCriticalPointBug algorithm-local path planning of mobile robot avoiding obstacles Subir Kumar Das; Ajoy Kumar Dutta; Subir Kumar Debnath
Indonesian Journal of Electrical Engineering and Computer Science Vol 18, No 3: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v18.i3.pp1646-1656

Abstract

For Autonomous Mobile Robot one of the biggest and interesting issues is path planning. An autonomous mobile robot should be able determine its own path to reach destination. This paper offers a new algorithm for mobile robot to plan a path in local environments with stationary as well as moving obstacles. For movable robots’ path planning OperativeCriticalPointBug (OCPB) algorithm, is a new Bug algorithm. This algorithm is carried out by the robot throughout the movement from source to goal, hence allowing the robot to rectify its way if a new obstacle comes into the route or any existing obstacle changes its route. According as, not only the robot tries to avoid clash with other obstacle but also tries a series of run time adjustment in its way to produce roughly a best possible path. During journey the robot is believed to be capable to act in an unknown location by acquiring information perceived locally. Using this algorithm the robot can avoid obstacle by considering its own as well as the obstacle’s dimension. The obstacle may be static or dynamic. The algorithm belongs to bug family.
Co-Authors Subir Kumar Das Subir Kumar Debnath