Open AccessGA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System
Author(s) -
Siti Nurhafizah Anual,
Mohd Faisal Ibrahim,
Nurhana Ibrahim,
Aini Hussain,
Mohd. Marzuki Mustafa,
Aqilah Baseri Huddin,
Fazida Hanim Hashim
Publication year - 2018
Publication title -
bulletin of electrical engineering and informatics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.251
H-Index - 12
ISSN - 2302-9285
DOI - 10.11591/eei.v7i3.1275
Subject(s) - mobile robot navigation , navigation system , mobile robot , computer science , fitness function , genetic algorithm , artificial intelligence , robot , process (computing) , ranging , representation (politics) , component (thermodynamics) , computer vision , real time computing , simulation , robot control , telecommunications , physics , machine learning , politics , political science , law , thermodynamics , operating system
Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.