NDLI: Integrated Simulation Software for Outdoor Robots Planning and Coordination

Content Provider	IEEE Xplore Digital Library
Author	Zein-Sabatto, S. Taiwo, O. Koseeyaorn, P.
Copyright Year	2004
Description	Author affiliation: Tennessee State University (Zein-Sabatto, S.)
Abstract	This paper involves the development of optimization software and its associated simulator to compute optimum paths to move a group of mobile robots to a given number of targets in a known environment. Genetic algorithms and the Virtual Reality Modeling Language ¿vrml¿ are used to design the software and the simulator respectively. It is assumed that the robots are located arbitrary at known starting positions and need to be moved to target positions in a known multi-obstacle three-dimensional environment. The factors considered for finding optimum paths for the group of mobile robots are the size and location of obstacles in the environment and the elevations of the environment. The developed software was tested on an aerial picture taken by a satellite imaging device for an outdoor environment. The size of obstacles, elevations present in the environment and starting positions of the robots and target position are all identified on the digital image in a form of grid map. The genetic algorithm takes information about the environment from the grid map, the results of processed pictures, and searches for optimum paths to move a group of mobile robots to specified targets. It is found that genetic algorithms converge and give better solutions to path planning in an environment where results are difficult to obtain.
Starting Page	215
Ending Page	221
File Size	1755786
Page Count	7
File Format	PDF
ISBN	0780383680
DOI	10.1109/SECON.2004.1287919
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-03-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Mobile robots Path planning Navigation Simulated annealing Computational modeling Genetic algorithms Orbital robotics Virtual reality Software design
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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