E-puck motion control using multi-objective particle swarm optimization

Authors

  • Vikas Singh Panwar Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar, Odisha, India
  • Anish Pandey Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar, Odisha, India Mobile No. 9827878550, 9861932338 http://orcid.org/0000-0001-9089-3727
  • Md. E. Hasan Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar, Odisha, India

Keywords:

Motion control, Orientation control, Multi-Objective Particle Swarm Optimization (MPSO) algorithm, Virtual robot experimentation platform software, Infra-Red sensors

Abstract

This article describes the velocity-based motion and orientation control method for differential-driven two-wheeled E-puck Robot (DDER) using Multi-Objective Particle Swarm Optimization (MPSO) algorithm in the Virtual Robot Experimentation Platform (V-REP) software environment. The wheel velocities data and Infra-Red (IR) sensors reading make the multi-objective fitness functions for MPSO. We use front, left, and right IR sensors reading and right wheel velocity data to design the first fitness function for MPSO. Similarly, the front, left, and right IR sensors reading, and left wheel velocity data have been taken for making the second fitness function for MPSO. The multi-objective fitness functions of MPSO minimize the motion and orientation of the DDER during navigation. Due to the minimization of motion and orientation, the DDER covers less distance to reach the goal and also takes less time. The Two-Dimensional (2D) and Three-Dimensional (3D) navigation results of the DDER among the scattered obstacles have been presented in the V-REP software environment. Also, the comparative analysis with previously developed Invasive Weed Optimization (IWO) algorithm has been performed to show the effectiveness and efficiency of the proposed MPSO algorithm.

Author Biography

Anish Pandey, Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar, Odisha, India Mobile No. 9827878550, 9861932338

Dr. Anish Pandey has completed his Ph.D. degree in mobile robotics from NIT Rourkela, Odisha, India, in the year of July 2016. His research interests are in Bio-Inspired (Nature-Inspired) Optimization Methods, Fuzzy Logic, Neural Networks, and Evolutionary Algorithms based Mobile Robot Navigation. He has published many papers in Various Journals, Book Chapters, Conference Proceedings, and filed three patents. His Google Scholar citations have been 497 with 13 h-index. He has more than four-year Post Ph.D. experience in teaching and research. Currently, he is working as a Professor (Assistant II) at the School of Mechanical Engineering at KIIT Deemed to be University, An Institute of Eminence, Bhubaneswar, Odisha, India. He has taught many subjects in UG and PG (Machine Design Branch) like Machine Design, Mechanics of Solids, Engineering Graphics, Finite Element Method, and Mechanical Vibration. He has guided many M. Tech. students and B. Tech. students. Presently, he is focusing on designing and fabrication of Autonomous Cleaning Robot. Dr. Anish Pandey is the potential reviewer of many prestigious journals like Elsevier, Wiley, Emerald, Springer, SAGE, and ACTA Press. He is the editorial member of the International Journal of Advance Robotics & Expert Systems (JARES), and Artificial Intelligence Advances (AIA) Journals. He has received certificate of outstanding contribution in reviewing from ISA Transaction Elsevier in April 2017.

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Published

2022-07-14

Issue

Engineering Review, Vol. 42, No. 1

Section

Articles

License

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