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Dynamic Strategy Planning of Humanoid Robots Using Glowworm-Based Optimization

Published online by Cambridge University Press:  20 October 2020

Priyadarshi Biplab Kumar Open the ORCID record for Priyadarshi Biplab Kumar [Opens in a new window] ,
Dayal R. Parhi ,
Manoj Kumar Muni Open the ORCID record for Manoj Kumar Muni [Opens in a new window] ,
Krishna Kant Pandey Open the ORCID record for Krishna Kant Pandey [Opens in a new window] ,
Animesh Chhotray Open the ORCID record for Animesh Chhotray [Opens in a new window]  and
Diana Pradhan
Priyadarshi Biplab Kumar*
Affiliation:
Mechanical Engineering Department, National Institute of Technology Hamirpur, Hamirpur-177005, Himachal Pradesh, India
Dayal R. Parhi
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Institute of Technology Rourkela, Rourkela-769008, Odisha, India. E-mails: dayaldoc@yahoo.com, manoj1986nitr@gmail.com, kknitrkl@yahoo.in
Manoj Kumar Muni
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Institute of Technology Rourkela, Rourkela-769008, Odisha, India. E-mails: dayaldoc@yahoo.com, manoj1986nitr@gmail.com, kknitrkl@yahoo.in
Krishna Kant Pandey
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, National Institute of Technology Rourkela, Rourkela-769008, Odisha, India. E-mails: dayaldoc@yahoo.com, manoj1986nitr@gmail.com, kknitrkl@yahoo.in
Animesh Chhotray
Affiliation:
Department of Mechanical Engineering, Gandhi Institute for Education & Technology, Baniatangi, Bhubaneswar, Khurdha-752060, Odisha, India. E-mail: chhotrayanimesh@gmail.com
Diana Pradhan
Affiliation:
Department of Physics and Astronomy, National Institute of Technology Rourkela, Rourkela-769008, Odisha, India. E-mail: dianapradhan17@gmail.com
*
*Corresponding author. E-mail: p.biplabkumar@gmail.com
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Summary

In this paper, a novel dynamic navigational planning strategy is proposed for single as well as multiple humanoids in intricate environments on a glowworm-based optimization method. The sensory information regarding the obstacle distances and target information are supplied as inputs to the navigational model. The essential turning angle is generated as the output of the controller to avoid obstacles present in the environment and reach the target location with ease. The proposed model is certified in a V-REP simulation software, and the simulation results are authenticated in a real-time setup arranged under testing conditions.

Keywords

Glowworm optimizationHumanoidDynamic planningPetri-NetV-REP
Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1051 - 1063
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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