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Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system

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Abstract

Despite the proven advantages of sampling-based motion planning algorithms, their inability to handle online navigation tasks and providing low-cost solutions make them less efficient in practice. In this paper, a novel sampling-based algorithm is proposed which is able to plan in an unknown environment and provides solutions with lower cost in terms of path length, runtime and stability of the results. First, a fuzzy controller is designed which incorporates the heuristic rules of Tabu search to enable the planner for solving online navigation tasks. Then, an adaptive neuro-fuzzy inference system (ANFIS) is proposed such that it constructs and optimizes the fuzzy controller based on a set of given input/output data. Furthermore, a heuristic dataset generator is implemented to provide enough data for the ANFIS using a randomized procedure. The performance of the proposed algorithm is evaluated through simulation in different motion planning queries. Finally, the proposed planner is compared to some of the similar motion planning algorithms to support the claim of superiority of its performance.

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Acknowledgements

This work is partially supported by The Research Council of Norway as a part of the Multimodal Elderly Care Systems (MECS) Project, under Grant Agreement 247697 and by Malaysia Fundamental Research Grant Scheme (FRGS) (Grant No. FRGS/2/2014/TK06/UNITEN/02/7).

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Authors and Affiliations

  1. Robotics and Intelligent Systems Group (ROBIN), Department of Informatics, University of Oslo, Oslo, Norway

    Weria Khaksar & Jim Torresen

  2. Department of Mechanical and Manufacturing Engineering, University Putra Malaysia, 43300, Serdang, Selangor, Malaysia

    Tang Sai Hong

  3. Centre for Advanced Mechatronics and Robotics (CAMaRo), Universiti Tenaga Nasional, Jalan IKRAM-UNITEN, 43000, Kajang, Selangor, Malaysia

    Khairul Salleh Mohamed Sahari

  4. Department of Industrial Engineering, Sanandaj Branch, Islamic Azad University, Sanandaj, Iran

    Mansoor Khaksar

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  1. Weria Khaksar
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Correspondence to Weria Khaksar.

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Khaksar, W., Hong, T.S., Sahari, K.S.M. et al. Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system. Neural Comput & Applic 31 (Suppl 2), 1275–1289 (2019). https://doi.org/10.1007/s00521-017-3069-6

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  • DOI: https://doi.org/10.1007/s00521-017-3069-6

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