IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v10y2022i17p3169-d905629.html
   My bibliography  Save this article

Multi-Objective Instantaneous Center of Rotation Optimization Using Sensors Feedback for Navigation in Self-Reconfigurable Pavement Sweeping Robot

Author

Listed:
  • Lim Yi

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Anh Vu Le

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore
    Optoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam)

  • Joel Chan Cheng Hoong

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Abdullah Aamir Hayat

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Balakrishnan Ramalingam

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Rajesh Elara Mohan

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Kristor Leong

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Karthikeyan Elangovan

    (ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore)

  • Minh Tran

    (Optoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam)

  • Minh V. Bui

    (Faculty of Engineering and Technology, Nguyen Tat Thanh University, 300A-Nguyen Tat Thanh, Ward 13, District 4, Ho Chi Minh City 700000, Vietnam)

  • Phan Van Duc

    (Faculty of Automotive Engineering, School of Engineering and Technology, Van Lang University, Ho Chi Minh City 700000, Vietnam)

Abstract

Pavement in outdoor settings is an unstructured environment with sharp corners, varying widths, and pedestrian activity that poses navigation challenges while cleaning for autonomous systems. In this work, an approach towards navigating without collision in constrained pavement spaces using the optimal instantaneous center of rotation (ICR) is demonstrated using an in-house developed omnidirectional reconfigurable robot named Panthera. The Panthera reconfigurable design results in varying footprints, supported by passive linear joints along the robot width, with locomotion and steering action using four wheels independent steering drive (4WISD). The robot kinematics and perception sensors system are discussed. Further, the ICR selection is carried out using multi-objective optimization, considering functions for steering, varying width, distance, and clearance to avoid a collision. The framework is incorporated in a local navigation planner and demonstrated experimentally in real pavement settings. The results with optimal selection of ICR in two dimensional space within the robot footprint successfully perform smooth navigation in the constraint space. It is experimentally highlighted with four different scenarios, i.e., constraint conditions encountered by a robot during navigation. Moreover, the formulation of optimal selection of ICR while avoiding collision is generic and can be used for other mobile robot architectures.

Suggested Citation

  • Lim Yi & Anh Vu Le & Joel Chan Cheng Hoong & Abdullah Aamir Hayat & Balakrishnan Ramalingam & Rajesh Elara Mohan & Kristor Leong & Karthikeyan Elangovan & Minh Tran & Minh V. Bui & Phan Van Duc, 2022. "Multi-Objective Instantaneous Center of Rotation Optimization Using Sensors Feedback for Navigation in Self-Reconfigurable Pavement Sweeping Robot," Mathematics, MDPI, vol. 10(17), pages 1-22, September.
  • Handle: RePEc:gam:jmathe:v:10:y:2022:i:17:p:3169-:d:905629
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/10/17/3169/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/2227-7390/10/17/3169/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Abdullah Aamir Hayat & Parasuraman Karthikeyan & Manuel Vega-Heredia & Mohan Rajesh Elara, 2019. "Modeling and Assessing of Self-Reconfigurable Cleaning Robot hTetro Based on Energy Consumption," Energies, MDPI, vol. 12(21), pages 1-19, October.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Manivannan Kalimuthu & Abdullah Aamir Hayat & Thejus Pathmakumar & Mohan Rajesh Elara & Kristin Lee Wood, 2023. "A Deep Reinforcement Learning Approach to Optimal Morphologies Generation in Reconfigurable Tiling Robots," Mathematics, MDPI, vol. 11(18), pages 1-22, September.
    2. Manivannan Kalimuthu & Thejus Pathmakumar & Abdullah Aamir Hayat & Prabakaran Veerajagadheswar & Mohan Rajesh Elara & Kristin Lee Wood, 2023. "Optimal Morphologies of n-Omino-Based Reconfigurable Robot for Area Coverage Task Using Metaheuristic Optimization," Mathematics, MDPI, vol. 11(4), pages 1-23, February.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:10:y:2022:i:17:p:3169-:d:905629. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.