Neural dynamics based complete grid coverage by single and multiple mobile robots

Abstract Navigation of mobile robots in a grid based environment is useful in applications like warehouse automation. The environment comprises of a number of free grid cells for navigation and remaining grid cells are occupied by obstacles and/or other mobile robots. Such obstructions impose situat...

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Main Authors: Arindam Singha, Anjan Kumar Ray, Arun Baran Samaddar
Format: Article
Language:English
Published: Springer 2021-04-01
Series:SN Applied Sciences
Subjects:
Online Access:https://doi.org/10.1007/s42452-021-04508-5
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spelling doaj-724bd8ce9e5b4737b7721658bcda3b5e2021-04-11T11:18:06ZengSpringerSN Applied Sciences2523-39632523-39712021-04-013511710.1007/s42452-021-04508-5Neural dynamics based complete grid coverage by single and multiple mobile robotsArindam Singha0Anjan Kumar Ray1Arun Baran Samaddar2Department of Electrical and Electronics Engineering, National Institute of Technology SikkimDepartment of Electrical and Electronics Engineering, National Institute of Technology SikkimNational Institute of Technology SikkimAbstract Navigation of mobile robots in a grid based environment is useful in applications like warehouse automation. The environment comprises of a number of free grid cells for navigation and remaining grid cells are occupied by obstacles and/or other mobile robots. Such obstructions impose situations of collisions and dead-end. In this work, a neural dynamics based algorithm is proposed for complete coverage of a grid based environment while addressing collision avoidance and dead-end situations. The relative heading of the mobile robot with respect to the neighbouring grid cells is considered to calculate the neural activity. Moreover, diagonal movement of the mobile robot through inter grid cells is restricted to ensure safety from the collision with obstacles and other mobile robots. The circumstances where the proposed algorithm will fail to provide completeness are also discussed along with the possible ways to overcome those situations. Simulation results are presented to show the effectiveness of the proposed algorithm for a single and multiple mobile robots. Moreover, comparative studies illustrate improvements over other algorithms on collision free effective path planning of mobile robots within a grid based environment.https://doi.org/10.1007/s42452-021-04508-5Biologically inspired neural networkComplete grid coverageGrid based environmentDead-end situationMultiple mobile robots
collection DOAJ
language English
format Article
sources DOAJ
author Arindam Singha
Anjan Kumar Ray
Arun Baran Samaddar
spellingShingle Arindam Singha
Anjan Kumar Ray
Arun Baran Samaddar
Neural dynamics based complete grid coverage by single and multiple mobile robots
SN Applied Sciences
Biologically inspired neural network
Complete grid coverage
Grid based environment
Dead-end situation
Multiple mobile robots
author_facet Arindam Singha
Anjan Kumar Ray
Arun Baran Samaddar
author_sort Arindam Singha
title Neural dynamics based complete grid coverage by single and multiple mobile robots
title_short Neural dynamics based complete grid coverage by single and multiple mobile robots
title_full Neural dynamics based complete grid coverage by single and multiple mobile robots
title_fullStr Neural dynamics based complete grid coverage by single and multiple mobile robots
title_full_unstemmed Neural dynamics based complete grid coverage by single and multiple mobile robots
title_sort neural dynamics based complete grid coverage by single and multiple mobile robots
publisher Springer
series SN Applied Sciences
issn 2523-3963
2523-3971
publishDate 2021-04-01
description Abstract Navigation of mobile robots in a grid based environment is useful in applications like warehouse automation. The environment comprises of a number of free grid cells for navigation and remaining grid cells are occupied by obstacles and/or other mobile robots. Such obstructions impose situations of collisions and dead-end. In this work, a neural dynamics based algorithm is proposed for complete coverage of a grid based environment while addressing collision avoidance and dead-end situations. The relative heading of the mobile robot with respect to the neighbouring grid cells is considered to calculate the neural activity. Moreover, diagonal movement of the mobile robot through inter grid cells is restricted to ensure safety from the collision with obstacles and other mobile robots. The circumstances where the proposed algorithm will fail to provide completeness are also discussed along with the possible ways to overcome those situations. Simulation results are presented to show the effectiveness of the proposed algorithm for a single and multiple mobile robots. Moreover, comparative studies illustrate improvements over other algorithms on collision free effective path planning of mobile robots within a grid based environment.
topic Biologically inspired neural network
Complete grid coverage
Grid based environment
Dead-end situation
Multiple mobile robots
url https://doi.org/10.1007/s42452-021-04508-5
work_keys_str_mv AT arindamsingha neuraldynamicsbasedcompletegridcoveragebysingleandmultiplemobilerobots
AT anjankumarray neuraldynamicsbasedcompletegridcoveragebysingleandmultiplemobilerobots
AT arunbaransamaddar neuraldynamicsbasedcompletegridcoveragebysingleandmultiplemobilerobots
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