IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE

Behaviour-based architecture is one of the most effective autonomous navigation techniques, second only to machine learning. However, specific algorithm may only be effective for a specific environment. When the environment is changed the algorithm may fail to adapt itself to the new configuratio...

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Main Author: ABDUL RAZAK, NUSRAH
Format: Final Year Project
Language: English
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-utpedia.19109 /
Published: 2017
Online Access: http://utpedia.utp.edu.my/19109/1/Final%20Dissertation%20Nusrah%20Bt%20Abdul%20Razak.pdf
http://utpedia.utp.edu.my/19109/
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recordtype eprints
spelling utp-utpedia.191092019-06-20T11:06:15Z http://utpedia.utp.edu.my/19109/ IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE ABDUL RAZAK, NUSRAH Behaviour-based architecture is one of the most effective autonomous navigation techniques, second only to machine learning. However, specific algorithm may only be effective for a specific environment. When the environment is changed the algorithm may fail to adapt itself to the new configuration. This study looks at developing a behavior-based algorithm that adaptable to several different environment configurations. Selected basic behaviour-based algorithms such as wallfollower, obstacle avoidance, escape route and target detection are to be combined and its efficiency is measured. Experiments conducted in different mazes show that robot is able to navigate itself from the starting point to the target with 4% to 10% extra turns. The efficiency of the mobile robot increases by 77% compared to manually controlled robot. The behaviour based implementation on the mobile robot managed to find the shortest path with the rate of failure of less than 15%. However, the time taken for the robot to reach the target can be variable depending on the complexity of the maze. 2017-09 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/19109/1/Final%20Dissertation%20Nusrah%20Bt%20Abdul%20Razak.pdf ABDUL RAZAK, NUSRAH (2017) IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE. UNSPECIFIED.
institution Universiti Teknologi Petronas
collection UTPedia
language English
description Behaviour-based architecture is one of the most effective autonomous navigation techniques, second only to machine learning. However, specific algorithm may only be effective for a specific environment. When the environment is changed the algorithm may fail to adapt itself to the new configuration. This study looks at developing a behavior-based algorithm that adaptable to several different environment configurations. Selected basic behaviour-based algorithms such as wallfollower, obstacle avoidance, escape route and target detection are to be combined and its efficiency is measured. Experiments conducted in different mazes show that robot is able to navigate itself from the starting point to the target with 4% to 10% extra turns. The efficiency of the mobile robot increases by 77% compared to manually controlled robot. The behaviour based implementation on the mobile robot managed to find the shortest path with the rate of failure of less than 15%. However, the time taken for the robot to reach the target can be variable depending on the complexity of the maze.
format Final Year Project
author ABDUL RAZAK, NUSRAH
spellingShingle ABDUL RAZAK, NUSRAH
IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE
author_sort ABDUL RAZAK, NUSRAH
title IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE
title_short IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE
title_full IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE
title_fullStr IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE
title_full_unstemmed IMPLEMENTATION OF BEHAVIOUR BASED NAVIGATION IN A PHYSICALLY CONFINED SITE
title_sort implementation of behaviour based navigation in a physically confined site
publishDate 2017
url http://utpedia.utp.edu.my/19109/1/Final%20Dissertation%20Nusrah%20Bt%20Abdul%20Razak.pdf
http://utpedia.utp.edu.my/19109/
_version_ 1741195450599342080
score 11.62408

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