Skip to Main Content
The New Advanced Society
book

The New Advanced Society

by Sandeep Kumar Panda, Ramesh Kumar Mohapatra, Subhrakanta Panda, S. Balamurugan
April 2022
Intermediate to advanced content levelIntermediate to advanced
512 pages
12h 53m
English
Wiley-Scrivener
Content preview from The New Advanced Society

15Route Mapping of Multiple Humanoid Robots Using Firefly-Based Artificial Potential Field Algorithm in a Cluttered Terrain

Abhishek Kumar Kashyap1*, Anish Pandey2 and Dayal R. Parhi1

1Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, India

2School of Mechanical Engineering, KIIT University, Bhubaneswar, India

Abstract

The hybrid outcome of the Firefly Algorithm (FA) and Artificial Potential Field (APF) algorithm for humanoid control is preferred in the present study for navigational tasks. Initially, the APF algorithm is procured with sensory input concerning the barrier range in a different direction, source points, and respective targets that give an intermediate steering angle. It is then fed to FA to obtain the ultimate steering angle as an output. FA guides the robot close (safest distance) to the obstacle and optimizes the footsteps to provide a better path. Simulations and real-time experiments are carried out for the motion of multiple humanoids in a cluttered terrain. Humanoid robots have been shown to be able to maneuver comfortably from source point to target using the preferred algorithm. In the system containing multiple humanoid robots, one robot behaves like a dynamic obstacle to the other humanoids, leading to a conflicting situation during navigation. This situation is eliminated by the implementation of the dining philosopher controller in the base algorithm. The simulation and experiment result shows a good ...

Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
and much more.
Start your free trial

You might also like

The Unintended Consequences of Technology

The Unintended Consequences of Technology

Chris Ategeka
How to Help High Achievers Overcome Imposter Syndrome

How to Help High Achievers Overcome Imposter Syndrome

Morela Hernandez, Christina Lacerenza

Publisher Resources

ISBN: 9781119824473Purchase Link