Abstract
In a dynamic Robot navigation system , the Robot has to deal with multiple number of moving objects in the environment simultaneously. The control loop of Robot motion planning comprising of sense-plan-act cycle has very short duration . Predicting the next instance position (Short Term Prediction) and the trajectory (Long Term Prediction) of moving objects in a dynamic navigation system is a part of sense-plan-act cycle. With increase in the number of moving objects under observation, the performance of the prediction techniques reduce gradually. To overcome this drawback, in this paper we propose a parallel motion prediction algorithm to keep track of multiple number of moving objects within the Robotic navigational environment. The implementation of parallel algorithm is done on a cluster computing setup. Performance of the algorithm is tested for different test case scenarios with detailed analysis on efficiency and speedup.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Foka, A., Trahanias, P.E.: Predictive Autonomous Robot navigation. In: Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, EFPL, Lausanne, Switzerland, October 2002, pp. 490–494 (2002)
Messom, C.H., Sen Gupta, G., Demidenko, S., Siong, L.Y.: Improving predictive control of a mobile robot: Application of image processing and kalman filtering. In: IMTC 2003 Instrumentation and Measurement Technology Conference, Vail, CO, USA, May 2003, pp. 20–22 (2003)
Perez, C., Reinoso, O., Vicente, M.A.: Robot hand visual tracking using an adaptive fuzzy logic controller. In: Proceedings of WSCGS 2004, Plzen, Czech Republic (February 2004)
Aycard, O., Petti, S., Vasquez, A.D., Yguel, M., Fraichard, T., Aycard, O.: Steps Towards Safe Navigation in Open and Dynamic Environments. In: Laugier, C., Chatila, R. (eds.) Autonomous Navigation in Dynamic Environments: Models and Algorithms. Springer Tracts in Advanced Robotics Series (STAR). Springer, Heidelberg (2006)
Henrich, D.: Fast Motion Planning by Parallel Processing – a Review. Journal of Intelligent and Robotic Systems 20, 45–69 (1997)
Mazer, E., Ahuactzin, J.M., Talbi, E.-G., Bessiére, P., Chatroux, T.: Parallel Motion Planning with the Ariadne’s Clew Algorithm. Lecture Notes in Control and Information Sciences, vol. 200, archive, pp. 62–74. Springer, London (1993)
Yu, H., Su, T.: A Destination Driven Navigator with Dynamic Object Motion Prediction. In: The Proceedings of International Conference on Robotics 2L Automation, Seoul, Korea, May 21-26, pp. 2692–2697 (2001)
Hwang, K., Briggs, F.A.: Computer Architecture and Parallel Processing. McGraw-Hill, New York (1985)
Seyr, M., Jakubek, S., Novak, G.: Neural network predictive trajectory tracking of an autonomous two-wheeled mobile robot. In: Proceedings of IFAC World Congress (2005)
Caselli, S., Reggiani, M., Sbravati, R.: Parallel Path Planning with Multiple Evasion Strategies. In: Proceedings of the 2002 IEEE International Conference on Robotics & Automation Washington, DC, May 2002, pp. 260–266 (2002)
Rajpurohit, V.S., Manohara Pai, M.M.: An Optimized Fuzzy Based Short Term Object Motion Prediction for Real-Life Robot Navigation Environment. In: Sebillo, M., Vitiello, G., Schaefer, G. (eds.) VISUAL 2008. LNCS, vol. 5188, pp. 114–125. Springer, Heidelberg (2008)
Rajpurohit, V.S., Manohara Pai, M.M.: Using Self Organizing Networks for Moving Object Trajectory Prediction. International Journal on Artificial Intelligence and Machine Learning 9(1), 27–34 (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Rajpurohit, V.S., Manohara Pai, M.M. (2009). Parallel Object Motion Prediction in a Robotic Navigational Environment. In: Malyshkin, V. (eds) Parallel Computing Technologies. PaCT 2009. Lecture Notes in Computer Science, vol 5698. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03275-2_43
Download citation
DOI: https://doi.org/10.1007/978-3-642-03275-2_43
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03274-5
Online ISBN: 978-3-642-03275-2
eBook Packages: Computer ScienceComputer Science (R0)