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Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)

Robotic Navigation Aids (RNAs) assist visually impaired individuals in independent navigation. However, existing research overlooks diverse obstacles and assumes equal responsibility for collision avoidance among intelligent entities. To address this, we propose Fuzzy Logic Controller-Optimal Reci...

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Main Authors: Mohd Romlay, Muhammad Rabani, Mohd Ibrahim, Azhar, Toha, Siti Fauziah, De Wilde, Philippe, Venkat, Ibrahim, Ahmad, Muhammad Syahmi
Format: Article
Language:English
English
Published: Springer Nature 2023
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/106206/1/106206_Obstacle%20avoidance%20for%20a%20robotic%20navigation.pdf
http://irep.iium.edu.my/106206/13/106206_Obstacle%20avoidance%20for%20a%20robotic%20navigation_Scopus.pdf
http://irep.iium.edu.my/106206/
https://link.springer.com/article/10.1007/s00521-023-08856-8
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spelling my.iium.irep.1062062023-11-07T03:49:50Z http://irep.iium.edu.my/106206/ Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA) Mohd Romlay, Muhammad Rabani Mohd Ibrahim, Azhar Toha, Siti Fauziah De Wilde, Philippe Venkat, Ibrahim Ahmad, Muhammad Syahmi T Technology (General) Robotic Navigation Aids (RNAs) assist visually impaired individuals in independent navigation. However, existing research overlooks diverse obstacles and assumes equal responsibility for collision avoidance among intelligent entities. To address this, we propose Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA). Our FLC-ORCA method assigns responsibility for collision avoidance and predicts the velocity of obstacles using a LiDAR-based mobile robot. We conduct experiments in the presence of static, dynamic, and intelligent entities, recording navigation paths, time taken, angle changes, and rerouting occurrences. The results demonstrate that the proposed FLC-ORCA successfully avoids collisions among objects with different collision avoidance protocols and varying liabilities in circumventing obstacles. Comparative analysis reveals that FLC-ORCA outperforms other state-of-the-art methods such as Improved A* and Directional Optimal Reciprocal Collision Avoidance (DORCA). It reduces the overall time taken to complete navigation by 16% and achieves the shortest completion time of 1 min and 38 s, with minimal rerouting (1 occurrence) and the smallest angle change (12). Our proposed FLC-ORCA challenges assumptions of equal responsibility and enables collision avoidance without pairwise manoeuvres. This approach significantly enhances obstacle avoidance, ensuring safer and more efficient robotic navigation for visually impaired individuals. Springer Nature 2023-08-10 Article PeerReviewed application/pdf en http://irep.iium.edu.my/106206/1/106206_Obstacle%20avoidance%20for%20a%20robotic%20navigation.pdf application/pdf en http://irep.iium.edu.my/106206/13/106206_Obstacle%20avoidance%20for%20a%20robotic%20navigation_Scopus.pdf Mohd Romlay, Muhammad Rabani and Mohd Ibrahim, Azhar and Toha, Siti Fauziah and De Wilde, Philippe and Venkat, Ibrahim and Ahmad, Muhammad Syahmi (2023) Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA). Neural Computing and Applications, 35 (30). pp. 22405-22429. ISSN 0941-0643 E-ISSN 1433-3058 https://link.springer.com/article/10.1007/s00521-023-08856-8 10.1007/s00521-023-08856-8
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic T Technology (General)
spellingShingle T Technology (General)
Mohd Romlay, Muhammad Rabani
Mohd Ibrahim, Azhar
Toha, Siti Fauziah
De Wilde, Philippe
Venkat, Ibrahim
Ahmad, Muhammad Syahmi
Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)
description Robotic Navigation Aids (RNAs) assist visually impaired individuals in independent navigation. However, existing research overlooks diverse obstacles and assumes equal responsibility for collision avoidance among intelligent entities. To address this, we propose Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA). Our FLC-ORCA method assigns responsibility for collision avoidance and predicts the velocity of obstacles using a LiDAR-based mobile robot. We conduct experiments in the presence of static, dynamic, and intelligent entities, recording navigation paths, time taken, angle changes, and rerouting occurrences. The results demonstrate that the proposed FLC-ORCA successfully avoids collisions among objects with different collision avoidance protocols and varying liabilities in circumventing obstacles. Comparative analysis reveals that FLC-ORCA outperforms other state-of-the-art methods such as Improved A* and Directional Optimal Reciprocal Collision Avoidance (DORCA). It reduces the overall time taken to complete navigation by 16% and achieves the shortest completion time of 1 min and 38 s, with minimal rerouting (1 occurrence) and the smallest angle change (12). Our proposed FLC-ORCA challenges assumptions of equal responsibility and enables collision avoidance without pairwise manoeuvres. This approach significantly enhances obstacle avoidance, ensuring safer and more efficient robotic navigation for visually impaired individuals.
format Article
author Mohd Romlay, Muhammad Rabani
Mohd Ibrahim, Azhar
Toha, Siti Fauziah
De Wilde, Philippe
Venkat, Ibrahim
Ahmad, Muhammad Syahmi
author_facet Mohd Romlay, Muhammad Rabani
Mohd Ibrahim, Azhar
Toha, Siti Fauziah
De Wilde, Philippe
Venkat, Ibrahim
Ahmad, Muhammad Syahmi
author_sort Mohd Romlay, Muhammad Rabani
title Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)
title_short Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)
title_full Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)
title_fullStr Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)
title_full_unstemmed Obstacle avoidance for a robotic navigation aid using Fuzzy Logic Controller-Optimal Reciprocal Collision Avoidance (FLC-ORCA)
title_sort obstacle avoidance for a robotic navigation aid using fuzzy logic controller-optimal reciprocal collision avoidance (flc-orca)
publisher Springer Nature
publishDate 2023
url http://irep.iium.edu.my/106206/1/106206_Obstacle%20avoidance%20for%20a%20robotic%20navigation.pdf
http://irep.iium.edu.my/106206/13/106206_Obstacle%20avoidance%20for%20a%20robotic%20navigation_Scopus.pdf
http://irep.iium.edu.my/106206/
https://link.springer.com/article/10.1007/s00521-023-08856-8
_version_ 1783876086598205440
score 13.211869

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