Overview of Robotic Path Planning

Rahul Kala, Department of Information Technology Indian Institute of Information Technology and Management Gwalior http://students.iiitm.ac.in/~ipg_200545/ rahulkalaiiitm@yahoo.co.in, rkala@students.iiitm.ac.in

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Publications

Kala, Rahul, Shukla, Anupam & Tiwari, Ritu (2009), Robotic Path Planning using Multi Neuron Heuristic Search, Proceedings of the ACM 2009 International Conference on Computer Sciences and Convergence Information Technology, ICCIT 2009, pp 1318-1323, Seoul, Korea Kala, Rahul, Shukla, Anupam, Tiwari, Ritu, Roongta, Sourabh & Janghel, RR (2009) Mobile Robot Navigation Control in Moving Obstacle Environment using Genetic Algorithm, Artificial Neural Networks and A* Algorithm, Proceedings of the IEEE World Congress on Computer Science and Information Engineering, CSIE 2009, pp 705-713, Los Angeles/Anaheim, USA Shukla, Anupam, Tiwari, Ritu & Kala, Rahul (2008), Mobile Robot Navigation Control in Moving Obstacle Environment using A* Algorithm, Proceedings of the International conference on Artificial Neural Networks in Engineering, ANNIE 2008, Intelligent Systems Engineering Systems through Artificial Neural Networks, ASME Publications, Vol. 18, pp 113-120, Nov 2008 Shukla, Anupam, Tiwari, Ritu, Kala, Rahul (2009) Mobile Robot Navigation Control in Moving Obstacle Environment using Genetic Algorithms and Artificial Neural Networks, International Journal of Artificial Intelligence and Computational Research, Vol. 1, No. 1, pp 1-12, June 2009
Rahul Kala

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior

Research in

MOBILE ROBOT PATH PLANNING

Inputs

The Problem Statement

◦ Robotic Map ◦ Location of Obstacles ◦ Static and Dynamic

Constraints

◦ Time Constraints ◦ Dimensionality of Map ◦ Static and Dynamic Environment Output •Path P such that no collision occurs
Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Problem Implementation by

Existing Algorithms:
A* Algorithm  Artificial Neural Networks  Genetic Algorithms  Multi-Neuron Heuristic Search (MNHS)  Neuro-Fuzzy

Self designed Algorithms:
Multi Algorithms/Hierarchical Algorithms Hierarchal MNHS  Hierarchical A* with Genetically Optimized Fuzzy Inference System  Evolving Robotic Path with Genetically Optimized Fuzzy Inference System  Swarm Intelligence etc

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

A* Algorithm
“I believe this is this way takes me shortest to the destination…. Lets give it a try” “Hey I got struck… I’ll choose another path” Add all possible moves in an open list.  Make the best move as per open list status  Add all executed moves in the closed list

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Results

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

ANN with Back Propagation Algorithm
“Whenever this type of situation arrives… Always make this move” “Hey rules failed… I’m struck… OK make random moves till you are out” Frame input/output pairs for every situation comprising of robot position, goal position and environment  Learn these and use them in decision making  Make random moves when position deteriorates

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Results

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Genetic Algorithms
“Show me some random paths so that I may decide” “OK this path is the best to go till a point and this path the best for the other part of the journey… Let me mix them both…” Generate random complete and incomplete solutions: source to nowhere, nowhere to goal and source to goal  Try to mix paths to attain optimality  Generate random paths between needed points

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Graphical Genetic Operators

Mutation
Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Results

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

MNHS Algorithm
“I believe this is this way takes me shortest to the destination…. Lets give it a try” “But in the process I may get struck… Lets walk a few steps on bad paths as well”

Add all possible moves in an open list.  Make the a range of moves best to worst as per open list status  Add all executed moves in the closed list

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Basic Concept of MNHS

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Results

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

Simple Algorithm Analysis
These are theoretically advocated and experimentally supported
Algorithm A* Algorithm Artificial Neural Networks Genetic Algorithms MNHS Advantages Computationally shortest paths in best times. Can incorporate dynamic changes in environment. Computationally very fast Work for larger and complex graph. Low computation and best path lengths in complex and uncertain graphs Can incorporate dynamic changes in environment. Computationally very fast Disadvantages Works only for small graphs and restricted and quantized moves Only works for simple graphs. Gets trapped in complex graphs. Path not optimal. Restricted Moves. Computationally expensive. Works only for small graphs and restricted and quantized moves Only works for simple graphs. Gets trapped in complex graphs. Path not optimal.

Neuro-Fuzzy Algorithms

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

The Big Observation

Individual Simple Algorithms have disadvantages … They’re too simple for many complex situations
and hence the game starts…
Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

ThankYou

Department of Information Communication Technology Indian Institute of Information Technology and Management Gwalior Rahul Kala

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