NDLI: A new active wave computing based real time mobile robot navigation algorithm for dynamic environment

Content Provider	IEEE Xplore Digital Library
Author	Kilic, V. Yeniceri, R. Yalcin, M.E.
Copyright Year	2010
Description	Author affiliation: Dept. of Electron. & Commun. Eng., Istanbul Tech. Univ., Istanbul, Turkey (Kilic, V.; Yeniceri, R.; Yalcin, M.E.)
Abstract	This paper introduces an active wave computing based algorithm for real-time robot navigation problem in dynamically changing environment and presents a real test setup with a roving robot. Travelling waves propagated on Cellular Neural Network (CNN) were employed by the system to find the shortest path as proposed in our previous work. The setup has a ceiling camera which captures an image of the top view of the platform at almost every one second. After preprocessing of this image, it is loaded to the network and an active wave which is generated by this network is propagated until the robot is covered by the wave. This method reduces the simulation time and speeds up the system. Although the robot is navigated in a dynamically changing environment, the system does not need to check the moving obstacles. The algorithm proposed here always generates a solution for the current state of the platform without the information about its past states. At every repetition of the algorithm, the target position is updated by the system if it is changed. Any change of the target position is immediately applied to the location of the wave source. Hence the system becomes working in dynamic environment with dynamic target.
Starting Page	1
Ending Page	6
File Size	2125380
Page Count	6
File Format	PDF
ISBN	9781424466795
e-ISBN	9781424466801
DOI	10.1109/CNNA.2010.5430279
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-02-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Navigation Heuristic algorithms Cellular neural networks Image processing Computer networks Testing Path planning Neurons Cellular networks Real-time Robot Navigation CNNs Cellular Wave Computing Path Planning
Content Type	Text
Resource Type	Article

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