Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm

Manoeuvrable robot commonly has become the focus of the latest heated issues especially in applications that involved disaster rescue, military missions and underwater or extra-terrestrial explorations. Currently, the manoeuvrable robot is controlled manually by the operator and it’s a wheeled type....

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Main Authors:	Mohd Yusof, Muhammad Syafiq, Toha @ Tohara, Siti Fauziah
Format:	Article
Language:	English English
Published:	Blue Eyes Intelligence Engineering and Sciences Publication 2019
Subjects:	TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/79646/ http://irep.iium.edu.my/79646/ http://irep.iium.edu.my/79646/1/79646_Gait%20identification%20and%20optimisation.pdf http://irep.iium.edu.my/79646/2/79646_Gait%20identification%20and%20optimisation_SCOPUS.pdf

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recordtype	eprints
spelling	iium-796462020-03-19T06:20:50Z http://irep.iium.edu.my/79646/ Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm Mohd Yusof, Muhammad Syafiq Toha @ Tohara, Siti Fauziah TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Manoeuvrable robot commonly has become the focus of the latest heated issues especially in applications that involved disaster rescue, military missions and underwater or extra-terrestrial explorations. Currently, the manoeuvrable robot is controlled manually by the operator and it’s a wheeled type. It is used for rescue missions to transport people from disaster area to the safe zone. However, the robot is incapable of moving automatically, and it goes through terrain or landscape like swarm. Therefore, a suitable platform is required to transport or for other uses especially in dangerous mission. It is very difficult to estimate the movement of the robot to avoid obstacles and choose the alternative path. Hence, this research presents the point-to-point gait identification or path planning of the behavious of the robot to manuever autonomously on both on-land and underwater environment. For the optimization, the robot will travel from one specific point to another with the predefined position within optimized gait and fastest time by using Ant Colony Optimization (ACO) technique. The algorithm being compared, between Ant Colony Algorithm (ACO) and the Particle Swarm Optimisation (PSO) in terms of time and distance. The ACO been chosen because of the positive feedback for rapid discovery and able to use in dynamic applications for example adapts to changes like new distances. The performance of the algorithm showed that the execution time of ACO is more realistic. Hence, Matlab is used to determine the best cost extracted from the ACO with the pre-define of number of iteration and the number of ants. The laboratory-scaled prototype for amphibious vehicle was developed to test the design controlled with ACO technique where Global Positioning System (GPS) is used for the coordination of the robot and Magnetometer for the position of the robot. The robot prototype is able to move autonomously and optimized by the ant colony optimization with predefined position and terrain condition © BEIESP. Blue Eyes Intelligence Engineering and Sciences Publication 2019-03 Article PeerReviewed application/pdf en http://irep.iium.edu.my/79646/1/79646_Gait%20identification%20and%20optimisation.pdf application/pdf en http://irep.iium.edu.my/79646/2/79646_Gait%20identification%20and%20optimisation_SCOPUS.pdf Mohd Yusof, Muhammad Syafiq and Toha @ Tohara, Siti Fauziah (2019) Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm. International Journal of Recent Technology and Engineering, 7 (6). pp. 277-283. ISSN 2277-3878 https://www.ijrte.org/wp-content/uploads/papers/v7i6s/F02530376S19.pdf
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ Mechanical engineering and machinery TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Mohd Yusof, Muhammad Syafiq Toha @ Tohara, Siti Fauziah Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
description	Manoeuvrable robot commonly has become the focus of the latest heated issues especially in applications that involved disaster rescue, military missions and underwater or extra-terrestrial explorations. Currently, the manoeuvrable robot is controlled manually by the operator and it’s a wheeled type. It is used for rescue missions to transport people from disaster area to the safe zone. However, the robot is incapable of moving automatically, and it goes through terrain or landscape like swarm. Therefore, a suitable platform is required to transport or for other uses especially in dangerous mission. It is very difficult to estimate the movement of the robot to avoid obstacles and choose the alternative path. Hence, this research presents the point-to-point gait identification or path planning of the behavious of the robot to manuever autonomously on both on-land and underwater environment. For the optimization, the robot will travel from one specific point to another with the predefined position within optimized gait and fastest time by using Ant Colony Optimization (ACO) technique. The algorithm being compared, between Ant Colony Algorithm (ACO) and the Particle Swarm Optimisation (PSO) in terms of time and distance. The ACO been chosen because of the positive feedback for rapid discovery and able to use in dynamic applications for example adapts to changes like new distances. The performance of the algorithm showed that the execution time of ACO is more realistic. Hence, Matlab is used to determine the best cost extracted from the ACO with the pre-define of number of iteration and the number of ants. The laboratory-scaled prototype for amphibious vehicle was developed to test the design controlled with ACO technique where Global Positioning System (GPS) is used for the coordination of the robot and Magnetometer for the position of the robot. The robot prototype is able to move autonomously and optimized by the ant colony optimization with predefined position and terrain condition © BEIESP.
format	Article
author	Mohd Yusof, Muhammad Syafiq Toha @ Tohara, Siti Fauziah
author_facet	Mohd Yusof, Muhammad Syafiq Toha @ Tohara, Siti Fauziah
author_sort	Mohd Yusof, Muhammad Syafiq
title	Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
title_short	Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
title_full	Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
title_fullStr	Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
title_full_unstemmed	Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
title_sort	gait identification and optimisation for amphi-underwater robot by using ant colony algorithm
publisher	Blue Eyes Intelligence Engineering and Sciences Publication
publishDate	2019
url	http://irep.iium.edu.my/79646/ http://irep.iium.edu.my/79646/ http://irep.iium.edu.my/79646/1/79646_Gait%20identification%20and%20optimisation.pdf http://irep.iium.edu.my/79646/2/79646_Gait%20identification%20and%20optimisation_SCOPUS.pdf
first_indexed	2023-09-18T21:51:38Z
last_indexed	2023-09-18T21:51:38Z
_version_	1777413808421076992

Gait identification and optimisation for amphi-underwater robot by using ant colony algorithm

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