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A multi-objective parametric algorithm for sensor-based navigation in uncharted terrains

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dc.citedby1
dc.contributor.authorKhaksar W.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorid54960984900en_US
dc.contributor.authorid57218170038en_US
dc.date.accessioned2023-05-29T06:13:25Z
dc.date.available2023-05-29T06:13:25Z
dc.date.issued2016
dc.description.abstractSensor-based motion planning is one the most challenging tasks in robotics where various approaches and algorithms have been proposed to achieve different planning goals. However, these approaches only focus on one single objective, i.e. path optimality, path safety, efficiency or trajectory smoothness. In this paper, a novel parametric algorithm is proposed that is able to handle different planning goals by means of a set of objective-controller parameters. These parameters are designed carefully to cover different requirements of the path planner. Readings of the sensors will be evaluated to determine the values of four decision variables and the next position of the robot will be selected accordingly. The performance of the proposed algorithm was tested through simulation studies in different types of environments to evaluate its ability to achieve different planning goals. Simulation studies have shown the algorithm to perform robust and effective in all environments.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.18178/ijmerr.5.2.115-119
dc.identifier.epage119
dc.identifier.issue2
dc.identifier.scopus2-s2.0-85006264101
dc.identifier.spage115
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85006264101&doi=10.18178%2fijmerr.5.2.115-119&partnerID=40&md5=82a3d1a1add87637a8e395c1c83cc8ac
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/22920
dc.identifier.volume5
dc.publisherInternational Journal of Mechanical Engineering and Robotics Researchen_US
dc.sourceScopus
dc.sourcetitleInternational Journal of Mechanical Engineering and Robotics Research
dc.titleA multi-objective parametric algorithm for sensor-based navigation in uncharted terrainsen_US
dc.typeArticleen_US
dspace.entity.typePublication
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