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Optimum Navigation of Four-Wheeled Ground Robot in Stationary and Non-stationary Environments Using Wind-Driven Optimization Algorithm

  • Nilotpala Bej
  • Anish PandeyEmail author
  • Abhishek K. Kashyap
  • Dayal R. Parhi
Conference paper
  • 44 Downloads
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

In this article, the atmospheric motion-based inspired wind-driven optimization (WDO) algorithm is implemented to minimize the traveling path length of a four-wheeled ground robot (FWGR) in different stationary and non-stationary environmental conditions. This optimization algorithm works on the principle of atmospheric motion of very small air particles, which revolves over the multi-dimensional search area. In the present study, WDO algorithm is employed to search a minimal or near-minimal steering angle for the (FWGR); this steering angle minimizes the path length during motion, orientation, and collision avoidance. The objective function for the WDO algorithm has been created for two reasons: for obstacle avoidance and traveling path optimization in the environments from the source point to the endpoint. Simulation results demonstrate that the FWGR covers a shorter path length using WDO algorithm as compared to the path length obtained by the FWGR using particle swarm optimization (PSO) algorithm and genetic algorithm (GA).

Keywords

Wind-driven optimization algorithm Four-wheeled ground robot Minimal Steering angle Objective function 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Nilotpala Bej
    • 1
  • Anish Pandey
    • 1
    Email author
  • Abhishek K. Kashyap
    • 2
  • Dayal R. Parhi
    • 2
  1. 1.School of Mechanical EngineeringKIIT Deemed to be UniversityPatia, BhubaneswarIndia
  2. 2.Department of Mechanical EngineeringNIT RourkelaSundergarhIndia

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