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Improving Navigational Parameters During Robot Motion Planning Using SOMA Technique

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Intelligent Systems

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 431))

Abstract

Science and technology have progressed in recent years as robots gained their popularity in industrial applications with real-time scenarios. The effective and efficient use of robots in real-time applications become a challenging task for the researchers. Use of intelligent algorithms for trajectory generation with proper motion planning while performing required task is required criterion for robotic agents. The Self-Organizing Migrating algorithm (SOMA) is used in this study to plan optimal paths for many mobile robots in both static and dynamic environments. This technique was simulated in V-REP simulator, and the outcomes have been validated in an experimental platform with real Khepera III robots under laboratory conditions. The simulation and experimental outcomes with very less navigational parameter deviation depict the effectiveness of the implemented intelligent path planning algorithm.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Indira Gandhi Institute of Technology, Sarang, Odisha, 759146, India

    Prasant Ranjan Dhal, Pragyan Kumar Pradhan, Manoj Kumar Muni & Ansuman Padhi

  2. Robotics Laboratory, Department of Mechanical Engineering, National Institute of Technology, Rourkela, Odisha, 769008, India

    Saroj Kumar

Authors
  1. Prasant Ranjan Dhal
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  2. Pragyan Kumar Pradhan
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  3. Manoj Kumar Muni
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  4. Saroj Kumar
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  5. Ansuman Padhi
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Corresponding author

Correspondence to Manoj Kumar Muni .

Editor information

Editors and Affiliations

  1. School of Computer and Information Science, University of Hyderabad, Hyderabad, Telangana, India

    Siba K. Udgata

  2. Department of Computer Science and Engineering, Indira Gandhi Institute of Technology, Sarang, India

    Srinivas Sethi

  3. Faculty of Science and Forestry, School of Computing, University of Eastern Finland, Kuopio, Finland

    Xiao-Zhi Gao

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Dhal, P.R., Pradhan, P.K., Muni, M.K., Kumar, S., Padhi, A. (2022). Improving Navigational Parameters During Robot Motion Planning Using SOMA Technique. In: Udgata, S.K., Sethi, S., Gao, XZ. (eds) Intelligent Systems. Lecture Notes in Networks and Systems, vol 431. Springer, Singapore. https://doi.org/10.1007/978-981-19-0901-6_17

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  • DOI: https://doi.org/10.1007/978-981-19-0901-6_17

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-0900-9

  • Online ISBN: 978-981-19-0901-6

  • eBook Packages: EngineeringEngineering (R0)

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