### Abstract

This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.

Language | English |
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Title of host publication | Computational Science and Technology - 5th ICCST 2018 |

Editors | Rayner Alfred, Ag Asri Ag Ibrahim, Yuto Lim, Patricia Anthony |

Publisher | Springer Verlag |

Pages | 269-282 |

Number of pages | 14 |

ISBN (Print) | 9789811326219 |

DOIs | |

Publication status | Published - Jan 1 2019 |

Event | 5th International Conference on Computational Science and Technology, ICCST 2018 - Kota Kinabalu, Malaysia Duration: Aug 29 2018 → Aug 30 2018 |

### Publication series

Name | Lecture Notes in Electrical Engineering |
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Volume | 481 |

ISSN (Print) | 1876-1100 |

ISSN (Electronic) | 1876-1119 |

### Other

Other | 5th International Conference on Computational Science and Technology, ICCST 2018 |
---|---|

Country | Malaysia |

City | Kota Kinabalu |

Period | 8/29/18 → 8/30/18 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Industrial and Manufacturing Engineering

### Cite this

*Computational Science and Technology - 5th ICCST 2018*(pp. 269-282). (Lecture Notes in Electrical Engineering; Vol. 481). Springer Verlag. https://doi.org/10.1007/978-981-13-2622-6_27

**Real-time optimal trajectory correction (ROTC) for autonomous omnidirectional robot.** / Razak, Noorfadzli Abdul; Arshad, Nor Hashim Mohd; Adnan, Ramli; Thamrin, Norashikin M.; Ng, Kok Mun.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Computational Science and Technology - 5th ICCST 2018.*Lecture Notes in Electrical Engineering, vol. 481, Springer Verlag, pp. 269-282, 5th International Conference on Computational Science and Technology, ICCST 2018, Kota Kinabalu, Malaysia, 8/29/18. https://doi.org/10.1007/978-981-13-2622-6_27

}

TY - GEN

T1 - Real-time optimal trajectory correction (ROTC) for autonomous omnidirectional robot

AU - Razak, Noorfadzli Abdul

AU - Arshad, Nor Hashim Mohd

AU - Adnan, Ramli

AU - Thamrin, Norashikin M.

AU - Ng, Kok Mun

PY - 2019/1/1

Y1 - 2019/1/1

N2 - This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.

AB - This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.

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U2 - 10.1007/978-981-13-2622-6_27

DO - 10.1007/978-981-13-2622-6_27

M3 - Conference contribution

SN - 9789811326219

T3 - Lecture Notes in Electrical Engineering

SP - 269

EP - 282

BT - Computational Science and Technology - 5th ICCST 2018

A2 - Alfred, Rayner

A2 - Ibrahim, Ag Asri Ag

A2 - Lim, Yuto

A2 - Anthony, Patricia

PB - Springer Verlag

ER -