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Navigational Control Analysis of Mobile Robot in Cluttered Unknown Environment Using Novel Neural-GSA Technique

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Innovative Product Design and Intelligent Manufacturing Systems

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

A unique hybridized neural-GSA artificial intelligence strategy has been proposed in this current paper for the steerage of a wheeled mobile robot in an obstacle prone environment. In this work, a seven-layered back propagation neural network has been hybridized with GSA to synthesize a controller for the wheeled mobile robot. The inputs to the neural-GSA approach are front obstacle distance, left obstacle distance, right obstacle distance and target angle. The output from the neural network is intermediate steering angle. The inputs to the GSA system in neural-GSA technique are front obstacle distance, left obstacle distance, right obstacle distance and intermediate steering angle. The output from the GSA controller is final steering angle. During the research, several simulations are carried out. Using the proposed neural-GSA strategy as well as theoretical results, it has been found out that the robot can successfully navigate in an obstacle prone environment.

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Author information

Authors and Affiliations

  1. Padmanava College of Engineering, Rourkela, Odisha, India

    Swadhin Sambit Das & Suranjan Mohanty

  2. Rourkela Institute of Technology, Rourkela, Odisha, India

    Adhir Kr. Behera

  3. National Institute of Technology, Rourkela, Odisha, India

    Dayal R. Parhi

  4. College of Engineering and Technology, Bhubaneswar, Odisha, India

    Saroj Kr. Pradhan

Authors
  1. Swadhin Sambit Das
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  2. Suranjan Mohanty
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  3. Adhir Kr. Behera
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  4. Dayal R. Parhi
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  5. Saroj Kr. Pradhan
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Editors and Affiliations

  1. Department of Industrial Design, National Institute of Technology, Rourkela, Odisha, India

    BBVL. Deepak

  2. Department of Mechanical Engineering, National Institute of Technology, Rourkela, Odisha, India

    DRK Parhi

  3. Department of Production Engineering, Veer Surendra Sai University of Technology, Burla, Odisha, India

    Pankaj C. Jena

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Das, S.S., Mohanty, S., Behera, A.K., Parhi, D.R., Pradhan, S.K. (2020). Navigational Control Analysis of Mobile Robot in Cluttered Unknown Environment Using Novel Neural-GSA Technique. In: Deepak, B., Parhi, D., Jena, P. (eds) Innovative Product Design and Intelligent Manufacturing Systems. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-2696-1_54

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  • DOI: https://doi.org/10.1007/978-981-15-2696-1_54

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