![Sample our Computer Science journals, sign in here to start your access, latest two full volumes FREE to you for 14 days]({"type":"image" , "src" : "/sda/5928/TOC-Subject-Sample-2021-Computer-Science.jpg"})
ABSTRACT
The navigation of mobile robots using heuristic algorithms is one of the important issues in computer and control sciences. Path planning and obstacle avoidance are current topics of navigational challenges for mobile robots. The major drawbacks of conventional methods are the inability to plan motion in a dynamic and unknown environment, failure in crowded and complex environments, and inability to predict the velocity vector of obstacles and non-optimality of the synthesised path. This paper presents a novel path planning approach using a grasshopper algorithm for navigation of a mobile robot in dynamic and unknown environments. To accomplish this goal, two different approaches are presented. First, a sensory system is used to detect the obstacles and then a new method is developed to predict and avoid static and dynamic obstacles while the velocity of obstacles is unknown. The robot uses the obtained information and finds a collision-free, optimal and safe path. The controller proposed in this paper is tested in crowded and complex environments. Simulation results show that the approach is successful in all test environments. Also, the proposed controller is compared with several heuristic methods. The comparison work stipulates that the introduced controller here is promising in terms of running time, optimality, stability and failure rate.
Disclosure statement
No potential conflict of interest was reported by the authors.
Additional information
Notes on contributors
Zahra Elmi
Zahra Elmi is currently a Ph.D. student in Computer Engineering at Hacettepe University, Ankara, Turkey. She received her B.Sc. and MSc. Degrees in Computer Engineering from Islamic Azad University of Khoy and Qazvin, Iran, in 2006 and 2009, respectively. She is working on path planning using a heuristic algorithm in a dynamic environment, autonomous vehicles, vehicle dynamics and control, and advanced control methods and their real-time applications.
Mehmet Önder Efe
Mehmet Önder Efe received the Ph.D. degree in 2000 from Boğaziçi University, Istanbul, Turkey. He is currently a Professor in the Department of Computer Engineering of Hacettepe University, Ankara, Turkey. he was the head of the department (2015-2018) and the head of the computer hardware division since 2013. He has authored or coauthored more than 140 journal and conference publications focusing on the applications of computational intelligence, unmanned aerial vehicles and systems, and control theory, as well as 4 books, 11 book chapters, and 3 edited books. Dr. Efe was the Head of the IEEE CSS Turkey Chapter from January 2007 to December 2008. He serves as an Associate Editor for the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, the Transactions of the Institute of Measurement and Control, the International Journal of Industrial Electronics and Control and Advances in Fuzzy Systems.