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Oleiwi, Bashra Kadhim
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Electrical & Electronics Engineering

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Unmanned aerial vehicle path planning in a 3D environment using a hybrid algorithm Kareem, Abbas Abdulrazzaq; Mohamed, Mohamed Jasim; Oleiwi, Bashra Kadhim
Bulletin of Electrical Engineering and Informatics Vol 13, No 2: April 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i2.6020

Abstract

The optimal unmanned aerial vehicle (UAV) path planning using bio-inspired algorithms requires high computation and low convergence in a complex 3D environment. To solve this problem, a hybrid A*-FPA algorithm was proposed that combines the A* algorithm with a flower pollination algorithm (FPA). The main idea of this algorithm is to balance the high speed of the A* exploration ability with the FPA exploitation ability to find an optimal 3D UAV path. At first, the algorithm starts by finding the locally optimal path based on a grid map, and the result is a set of path nodes. The algorithm will select three discovered nodes and set the FPA's initial population. Finally, the FPA is applied to obtain the optimal path. The proposed algorithm's performance was compared with the A*, FPA, genetic algorithm (GA), and partical swarm optimization (PSO) algorithms, where the comparison is done based on four factors: the best path, mean path, standard deviation, and worst path length. The simulation results showed that the proposed algorithm outperformed all previously mentioned algorithms in finding the optimal path in all scenarios, significantly improving the best path length and mean path length of 79.3% and 147.8%, respectively.
Ultrasonic sensor decision-making algorithm for mobile robot motion in maze environment Khaleel, Hind Zuhair; Oleiwi, Bashra Kadhim
Bulletin of Electrical Engineering and Informatics Vol 13, No 1: February 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i1.6560

Abstract

An autonomous mobile robot is one that can move from one location to another without the intervention of a human. A maze environment is a complex environment since it contains many obstacles and the major problem is moving through it. To avoid obstacles while moving through the maze, the mobile robot must be designed with an algorithm. This work proposes a decision-making system with an ultrasonic sensor to allow the developed autonomous mobile robot to avoid obstacles in any maze setting through its movements. The maze was designed with a size of 100×200 cm2 for the case study. Due to the height dimension of the barrier (20 cm) and the height dimension of the mobile robot including the ultrasonic sensor (20 cm), a distance of 20 cm was taken between the wall (obstacle) and the sensor. The result distance between the (wood wall) object and the sensor indicates that it is a reasonable distance chosen for the mobile robot to move and turn with flexibility as it travels through the maze environment from 0 cm to 300 cm. This mobile robot path took 1 minute to finish at a speed of 5 cm/sec, indicating that it is a quick algorithm as compared with related work.
Co-Authors Kareem, Abbas Abdulrazzaq Khaleel, Hind Zuhair Mohamed, Mohamed Jasim