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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

LanguageEnglish
Title of host publicationComputational Science and Technology - 5th ICCST 2018
EditorsRayner Alfred, Ag Asri Ag Ibrahim, Yuto Lim, Patricia Anthony
PublisherSpringer Verlag
Pages269-282
Number of pages14
ISBN (Print)9789811326219
DOIs
Publication statusPublished - Jan 1 2019
Event5th International Conference on Computational Science and Technology, ICCST 2018 - Kota Kinabalu, Malaysia
Duration: Aug 29 2018Aug 30 2018

Publication series

NameLecture Notes in Electrical Engineering
Volume481
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

Other5th International Conference on Computational Science and Technology, ICCST 2018
CountryMalaysia
CityKota Kinabalu
Period8/29/188/30/18

Fingerprint

Trajectories
Robots
Navigation
Range finders
Graphical user interfaces
Navigation systems
Splines
Controllers
Lasers
Sensors
Experiments

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Razak, N. A., Arshad, N. H. M., Adnan, R., Thamrin, N. M., & Ng, K. M. (2019). Real-time optimal trajectory correction (ROTC) for autonomous omnidirectional robot. In R. Alfred, A. A. A. Ibrahim, Y. Lim, & P. Anthony (Eds.), 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.

Computational Science and Technology - 5th ICCST 2018. ed. / Rayner Alfred; Ag Asri Ag Ibrahim; Yuto Lim; Patricia Anthony. Springer Verlag, 2019. p. 269-282 (Lecture Notes in Electrical Engineering; Vol. 481).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Razak, NA, Arshad, NHM, Adnan, R, Thamrin, NM & Ng, KM 2019, Real-time optimal trajectory correction (ROTC) for autonomous omnidirectional robot. in R Alfred, AAA Ibrahim, Y Lim & P Anthony (eds), 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
Razak NA, Arshad NHM, Adnan R, Thamrin NM, Ng KM. Real-time optimal trajectory correction (ROTC) for autonomous omnidirectional robot. In Alfred R, Ibrahim AAA, Lim Y, Anthony P, editors, Computational Science and Technology - 5th ICCST 2018. Springer Verlag. 2019. p. 269-282. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-981-13-2622-6_27
Razak, Noorfadzli Abdul ; Arshad, Nor Hashim Mohd ; Adnan, Ramli ; Thamrin, Norashikin M. ; Ng, Kok Mun. / Real-time optimal trajectory correction (ROTC) for autonomous omnidirectional robot. Computational Science and Technology - 5th ICCST 2018. editor / Rayner Alfred ; Ag Asri Ag Ibrahim ; Yuto Lim ; Patricia Anthony. Springer Verlag, 2019. pp. 269-282 (Lecture Notes in Electrical Engineering).
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