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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Online Access: | https://doi.org/10.1007/s42452-021-04508-5 |
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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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1721531160953094144 |