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All Journal Indonesian Journal of Electrical Engineering and Computer Science
Nor Badariyah Abdul Latip
Universiti Tun Hussein Onn Malaysia

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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 Che Ku Nor Che Ku Melor Elango Natarajan Elia Nadira Rosli Omar Sanjoy Kumar Debnath Shasha Shely Tapan Kumar Chakraborty