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Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments

Roshanineshat, Arash

Abstract Details

2018, Master of Science in Electrical Engineering, Cleveland State University, Washkewicz College of Engineering.
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to the D* Lite algorithm and results are presented. In the last section, the parameters of the robot are optimized using biogeography-based optimization (BBO). This is an efficient multivariable optimizer and it is shown that the results of optimization achieve significant improvement in robot navigation performance. In this thesis, we show that using evolutionary optimization methods like BBO can reduce the risk of collision and the navigation time by about 25% each. The resulting risk of collision indicates safe navigation by the robot which leads to the conclusion that this is a feasible method for real-world robots.
Dan Simon (Advisor)
Lili Dong (Committee Member)
Mohammad S. Shirazi (Committee Member)
82 p.

Recommended Citations

Citations

  • Roshanineshat, A. (2018). Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments [Master's thesis, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1535046966222847

    APA Style (7th edition)

  • Roshanineshat, Arash. Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments. 2018. Cleveland State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1535046966222847.

    MLA Style (8th edition)

  • Roshanineshat, Arash. "Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments." Master's thesis, Cleveland State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=csu1535046966222847

    Chicago Manual of Style (17th edition)