An Effective Track Designing Approach for a Mobile Robot

Introduction

A robot is always intended to serve the activities assigned to it. Working in hazardous situations, raw material or any kind of repair work in risk-associated areas sets challenges for the human beings. A robot may be classified as mobile or stationary (industrial robot) in nature, according to the movements. The term mobile associated with robot, symbolizes its free movements to any locations. Its motion can be controlled from a longer distance by using various wireless electronic devices. So, the mobile robot can travel easily if there is no obstruction in its predetermined path. Which indicates that the selection of an effective track is an important concern that has been followed by the mobile robot. Numerous approaches like Particle swarm optimization (PSO), adaptive particle swarm optimization (APSO), genetic algorithm (GA), A star (A*) algorithm, fuzzy logic, etc., are tested to resolve the track designing issues. Track with dwindle length, zero collision risk and smoothness are recognized as a global optimum track. An environment is necessary to perform the simulation work. The environment may be static or dynamic according to the variation of obstacles position from time to time. If there is no variation arises in obstacles position, then surrounding is called as static. The obstacles exist in that environment is represented as static obstacle. Otherwise the environment is dynamic in nature and obstacles present in that environment is called as dynamic.

The dominant contribution of this paper is directed towards the implementation of PSO and APSO approach to figure out the track designing issues. For performing simulation work, a static environment with fifteen obstacles is developed. Fifteen numbers of obstacles are implemented to improve the environment complexity. So, a finest tool can be identified which not only generate diminished track length with zero collision risk, but also best suited tool for complex surrounding. Lastly a comparability sequence is entrenched among PSO and APSO approach for pointing the leading approach that brings downsized track length at a lessened computational time.