Skip to the main content

Engineering Review : International journal for publishing of original researches from the aspect of structural analysis, materials and new technologies in the field of mechanical engineering, shipbuilding, fundamental engineering sciences, computer sciences, electrical engin, Vol. 42 No. 1, 2022.

Original scientific paper

https://doi.org/10.30765/er.1647

E-puck motion control using multi-objective particle swarm optimization

Vikas Singh Panwar ; School of Mechanical Engineering, Campus-8, Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar-751024, Odisha, India
Anish Pandey ; School of Mechanical Engineering, Campus-8, Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar-751024, Odisha, India
Md. E. Hasan ; School of Mechanical Engineering, Campus-8, Kalinga Institute of Industrial Technology (KIIT) Deemed to be University, An Institute of Eminence, Bhubaneswar-751024, Odisha, India

Full text: english pdf 875 Kb

page 66-76

downloads: 381

cite

Abstract

This article describes the velocity-based motion and orientation control method for a differential-driven two-wheeled E-puck Robot (DDER) using the Multi-Objective Particle Swarm Optimization (MPSO) algorithm in the Virtual Robot Experimentation Platform (V-REP) software environment. The wheel velocities data and Infra-Red (IR) sensors reading make the multi-objective fitness functions for MPSO. We use front, left, and right IR sensors reading and right wheel velocity data to design the first fitness function for MPSO. Similarly, the front, left, and right IR sensors reading, and left wheel velocity data have been taken for making the second fitness function for MPSO. The multi-objective fitness functions of MPSO minimize the motion and orientation of the DDER during navigation. Due to the minimization of motion and orientation, the DDER covers less distance to reach the goal and takes less time. The Two-Dimensional (2D) and Three-Dimensional (3D) navigation results of the DDER among the scattered obstacles have been presented in the V-REP software environment. The comparative analysis with previously developed Invasive Weed Optimization (IWO) algorithm has also been performed to show the effectiveness and efficiency of the proposed MPSO algorithm.

Keywords

motion control; orientation control; multi-objective particle swarm optimization algorithm; virtual robot experimentation platform software; infra-red sensors

Hrčak ID:

278522

URI

https://hrcak.srce.hr/278522

Publication date:

14.7.2022.

Visits: 1.061 *