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All Journal Bulletin of Electrical Engineering and Informatics Bulletin of Electrical Engineering and Informatics Bulletin of Electrical Engineering and Informatics Indonesian Journal of Electrical Engineering and Computer Science

Mohd Marzuki Mustafa

Universiti Kebangsaan Malaysia

Author-ID : 2461637

Computer Science & IT Electrical & Electronics Engineering Engineering

Published : 8 Documents Claim Missing Document

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Title

GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System Siti Nurhafizah Anual; Mohd Faisal Ibrahim; Nurhana Ibrahim; Aini Hussain; Mohd Marzuki Mustafa; Aqilah Baseri Huddin; Fazida Hanim Hashim
Bulletin of Electrical Engineering and Informatics Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

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.

Newly Developed Nonlinear Vehicle Model for an Active Anti-roll Bar System Noraishikin Binti Zulkarnain; Hairi Zamzuri; Sarah ’Atifah Saruchi; Mohd Marzuki Mustafa; Siti Salasiah Mokri; Nurbaiti Wahid; Siti Nor Zawani Ahmmad; Alias Jedi
Bulletin of Electrical Engineering and Informatics Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents the development of a newly developed nonlinear vehicle model is used in the validation process of the vehicle model. The parameters chosen in a newly developed vehicle model is developed based on CARSIM vehicle model by using non-dominated sorting genetic algorithm version II (NSGA-II) optimization method. The ride comfort and handling performances have been one of the main objective to fulfil the expectation of customers in the vehicle development. Full nonlinear vehicle model which consists of ride, handling and Magic tyre subsystems has been derived and developed in MATLAB/Simulink. Then, optimum values of the full nonlinear vehicle parameters are investigated by using NSGA-II. The two objective functions are established based on RMS error between simulation and benchmark system. A stiffer suspension provides good stability and handling during manoeuvres while softer suspension gives better ride quality. The final results indicated that the newly developed nonlinear vehicle model is behaving accurately with input ride and manoeuvre. The outputs trend are successfully replicated.

Co-Authors Ain Nazari Aini Hussain Alias Jedi Aqilah Baseri Huddin Fazida Hanim Hashim Hairi Zamzuri Mohd Faisal Ibrahim Nor Surayahani Suriani Noraina Alia Zainudin Noraishikin Binti Zulkarnain Nur Syazlin Zolkifli Nurbaiti Wahid Nurhana Ibrahim Sarah ’Atifah Saruchi Siti Nor Zawani Ahmmad Siti Nurhafizah Anual Siti Salasiah Mokri Wan Nur Hafsha Wan Kairuddin Wan Nurshazwani Wan Zakaria

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Journal : Bulletin of Electrical Engineering and Informatics