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Artificial intelligence in colorectal surgery: an AI-powered systematic review

Spinelli A, Carrano FM, Laino ME, Andreozzi M, Koleth G, Hassan C, et al.

Tech Coloproctol, 2023 Aug;27(8):615-629.
PMID: 36805890 DOI: 10.1007/s10151-023-02772-8

Artificial intelligence (AI) has the potential to revolutionize surgery in the coming years. Still, it is essential to clarify what the meaningful current applications are and what can be reasonably expected. This AI-powered review assessed the role of AI in colorectal surgery. A Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA)-compliant systematic search of PubMed, Embase, Scopus, Cochrane Library databases, and gray literature was conducted on all available articles on AI in colorectal surgery (from January 1 1997 to March 1 2021), aiming to define the perioperative applications of AI. Potentially eligible studies were identified using novel software powered by natural language processing (NLP) and machine learning (ML) technologies dedicated to systematic reviews. Out of 1238 articles identified, 115 were included in the final analysis. Available articles addressed the role of AI in several areas of interest. In the preoperative phase, AI can be used to define tailored treatment algorithms, support clinical decision-making, assess the risk of complications, and predict surgical outcomes and survival. Intraoperatively, AI-enhanced surgery and integration of AI in robotic platforms have been suggested. After surgery, AI can be implemented in the Enhanced Recovery after Surgery (ERAS) pathway. Additional areas of applications included the assessment of patient-reported outcomes, automated pathology assessment, and research. Available data on these aspects are limited, and AI in colorectal surgery is still in its infancy. However, the rapid evolution of technologies makes it likely that it will increasingly be incorporated into everyday practice.

Matched MeSH terms: Robotics
Fulltext Robotic neurosurgery: a preliminary study using an active vision-guided robotic arm for bone drilling and endoscopic manoeuvres

Awang MS, Abdullah MZ

Malays J Med Sci, 2011 Apr;18(2):53-7.
PMID: 22135587 MyJurnal

Surgical robots have been appearing in operating rooms over the past decade, and neurosurgery has been one of the pioneers in this area. In neurosurgery, the clinical use of robots has been limited to stereotactic procedures and endoscopic manoeuvres, although the brain is a unique organ and well-suited for robotic application. The aim of this study was to assess the ability of our vision-guided robotic system to perform basic neurosurgical procedures.

Matched MeSH terms: Robotics
Recent trends for practical rehabilitation robotics, current challenges and the future

Yakub F, Md Khudzari AZ, Mori Y

Int J Rehabil Res, 2014 Mar;37(1):9-21.
PMID: 24126254 DOI: 10.1097/MRR.0000000000000035

This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.

Matched MeSH terms: Robotics/instrumentation; Robotics/trends*
Fulltext Joint torque reduction of a three dimensional redundant planar manipulator

Yahya S, Moghavvemi M, Almurib HA

Sensors (Basel), 2012;12(6):6869-92.
PMID: 22969326 DOI: 10.3390/s120606869

Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.

Matched MeSH terms: Robotics
Fulltext Virtual Planning, Control, and Machining for a Modular-Based Automated Factory Operation in an Augmented Reality Environment

Pai YS, Yap HJ, Md Dawal SZ, Ramesh S, Phoon SY

Sci Rep, 2016 06 07;6:27380.
PMID: 27271840 DOI: 10.1038/srep27380

This study presents a modular-based implementation of augmented reality to provide an immersive experience in learning or teaching the planning phase, control system, and machining parameters of a fully automated work cell. The architecture of the system consists of three code modules that can operate independently or combined to create a complete system that is able to guide engineers from the layout planning phase to the prototyping of the final product. The layout planning module determines the best possible arrangement in a layout for the placement of various machines, in this case a conveyor belt for transportation, a robot arm for pick-and-place operations, and a computer numerical control milling machine to generate the final prototype. The robotic arm module simulates the pick-and-place operation offline from the conveyor belt to a computer numerical control (CNC) machine utilising collision detection and inverse kinematics. Finally, the CNC module performs virtual machining based on the Uniform Space Decomposition method and axis aligned bounding box collision detection. The conducted case study revealed that given the situation, a semi-circle shaped arrangement is desirable, whereas the pick-and-place system and the final generated G-code produced the highest deviation of 3.83 mm and 5.8 mm respectively.

Matched MeSH terms: Robotics
Fulltext Design and development of eggplant harvester for gantry system

Wan Ishak, W.I., Kit, W.H., Awwal, M. A.

Pertanika Journal of Science & Technology, 2010;18(2):-.
MyJurnal

This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PLC. Meanwhile, a PLC ladder diagram was designed and developed to control the operation of the eggplant harvester. A visual basic programme was developed to interface the harvester with a greenhouse gantry control system. A videogrammetry method was employed to calculate the distance between the stems of eggplants and the cutter of robot end effector. The end effector used electric as its power source and it was controlled via Programmable Logic Controller (PLC). Visual Basic Programme was developed to interface the harvester with the gantry control system. The accuracy of the videogrammetry was tested to be 67.2% for X-axis, 88.2% for Y-axis and 84.7% for Z-axis. Meanwhile, the speed of the end effector for harvester is 2.4 km/h and it could lift up to 55 cm. In order to determine detachment force of eggplant, 16 samples of mature eggplants were tested in a greenhouse, and as a result, more than 22.76 N force was needed to detach a mature eggplant inside the gantry system.

Matched MeSH terms: Robotics
Frequency and Causes of Line of Sight Issues During Neurosurgical Procedures Using Optical Image-Guided Systems

Mehbodniya AH, Moghavvemi M, Narayanan V, Waran V

World Neurosurg, 2019 Feb;122:e449-e454.
PMID: 30347306 DOI: 10.1016/j.wneu.2018.10.069

BACKGROUND: Navigation (image guidance) is an essential tool in modern neurosurgery, and most surgeons use an optical tracking system. Although the technology is accurate and reliable, one often is confronted by line of sight issues that interrupt the flow of an operation. There has been feedback on the matter, but the actual problem has not been accurately quantified, therefore making this the primary aim of this study. It is particularly important given that robotic technology is gradually making its way into neurosurgery and most of these devices depend on optical navigation when procedures are being conducted.
METHODS: In this study, the frequency and causes of line of sight issues is assessed using recordings of Navigation probe locations and its synchronised video recordings.
RESULTS: The mentioned experiment conducted for a series of 15 neurosurgical operations. This issue occured in all these surgeries except one. Maximum duration of issue presisting reached up to 56% of the navigation usage time.
CONCLUSIONS: The arrangment of staff and equipment is a key factor in avoiding this issue.

Matched MeSH terms: Robotics
Dynamic Modeling of Fiber-Reinforced Soft Manipulator: A Visco-Hyperelastic Material-Based Continuum Mechanics Approach

Mustaza SM, Elsayed Y, Lekakou C, Saaj C, Fras J

Soft Robot, 2019 06;6(3):305-317.
PMID: 30917093 DOI: 10.1089/soro.2018.0032

Robot-assisted surgery is gaining popularity worldwide and there is increasing scientific interest to explore the potential of soft continuum robots for minimally invasive surgery. However, the remote control of soft robots is much more challenging compared with their rigid counterparts. Accurate modeling of manipulator dynamics is vital to remotely control the diverse movement configurations and is particularly important for safe interaction with the operating environment. However, current dynamic models applied to soft manipulator systems are simplistic and empirical, which restricts the full potential of the new soft robots technology. Therefore, this article provides a new insight into the development of a nonlinear dynamic model for a soft continuum manipulator based on a material model. The continuum manipulator used in this study is treated as a composite material and a modified nonlinear Kelvin-Voigt material model is utilized to embody the visco-hyperelastic dynamics of soft silicone. The Lagrangian approach is applied to derive the equation of motion of the manipulator. Simulation and experimental results prove that this material modeling approach sufficiently captures the nonlinear time- and rate-dependent behavior of a soft manipulator. Material model-based closed-loop trajectory control was implemented to further validate the feasibility of the derived model and increase the performance of the overall system.

Matched MeSH terms: Robotics
Fulltext Development of an air pneumatic suspension system for transtibial prostheses

Pirouzi G, Abu Osman NA, Oshkour AA, Ali S, Gholizadeh H, Abas WA

Sensors (Basel), 2014;14(9):16754-65.
PMID: 25207872 DOI: 10.3390/s140916754

The suspension system and socket fitting of artificial limbs have major roles and vital effects on the comfort, mobility, and satisfaction of amputees. This paper introduces a new pneumatic suspension system that overcomes the drawbacks of current suspension systems in donning and doffing, change in volume during daily activities, and pressure distribution in the socket-stump interface. An air pneumatic suspension system (APSS) for total-contact sockets was designed and developed. Pistoning and pressure distribution in the socket-stump interface were tested for the new APSS. More than 95% of the area between each prosthetic socket and liner was measured using a Tekscan F-Scan pressure measurement which has developed matrix-based pressure sensing systems. The variance in pressure around the stump was 8.76 kPa. APSS exhibits less pressure concentration around the stump, improved pressure distribution, easy donning and doffing, adjustability to remain fitted to the socket during daily activities, and more adaptability to the changes in stump volume. The volume changes were adjusted by utility of air pressure sensor. The vertical displacement point and reliability of suspension were assessed using a photographic method. The optimum pressure in every level of loading weight was 55 kPa, and the maximum displacement was 6 mm when 90 N of weight was loaded.

Matched MeSH terms: Robotics/instrumentation*
A review on the mechanical design elements of ankle rehabilitation robot

Khalid YM, Gouwanda D, Parasuraman S

Proc Inst Mech Eng H, 2015 Jun;229(6):452-63.
PMID: 25979442 DOI: 10.1177/0954411915585597

Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.

Matched MeSH terms: Robotics/instrumentation*
Automatic alkaloid removal system

Yahaya MR, Hj Razali MH, Abu Bakar CA, Ismail WI, Muda WM, Mat N, et al.

Pak J Biol Sci, 2014 Jan 01;17(1):141-5.
PMID: 24783795

This alkaloid automated removal machine was developed at Instrumentation Laboratory, Universiti Sultan Zainal Abidin Malaysia that purposely for removing the alkaloid toxicity from Dioscorea hispida (DH) tuber. It is a poisonous plant where scientific study has shown that its tubers contain toxic alkaloid constituents, dioscorine. The tubers can only be consumed after it poisonous is removed. In this experiment, the tubers are needed to blend as powder form before inserting into machine basket. The user is need to push the START button on machine controller for switching the water pump ON by then creating turbulence wave of water in machine tank. The water will stop automatically by triggering the outlet solenoid valve. The powders of tubers are washed for 10 minutes while 1 liter of contaminated water due toxin mixture is flowing out. At this time, the controller will automatically triggered inlet solenoid valve and the new water will flow in machine tank until achieve the desire level that which determined by ultra sonic sensor. This process will repeated for 7 h and the positive result is achieved and shows it significant according to the several parameters of biological character ofpH, temperature, dissolve oxygen, turbidity, conductivity and fish survival rate or time. From that parameter, it also shows the positive result which is near or same with control water and assuming was made that the toxin is fully removed when the pH of DH powder is near with control water. For control water, the pH is about 5.3 while water from this experiment process is 6.0 and before run the machine the pH of contaminated water is about 3.8 which are too acid. This automated machine can save time for removing toxicity from DH compared with a traditional method while less observation of the user.

Matched MeSH terms: Robotics/instrumentation*
Modelling of internal architecture of kinesin nanomotor as a machine language

Khataee HR, Ibrahim MY

IET Nanobiotechnol, 2012 Sep;6(3):87-92.
PMID: 22894532 DOI: 10.1049/iet-nbt.2011.0062

Kinesin is a protein-based natural nanomotor that transports molecular cargoes within cells by walking along microtubules. Kinesin nanomotor is considered as a bio-nanoagent which is able to sense the cell through its sensors (i.e. its heads and tail), make the decision internally and perform actions on the cell through its actuator (i.e. its motor domain). The study maps the agent-based architectural model of internal decision-making process of kinesin nanomotor to a machine language using an automata algorithm. The applied automata algorithm receives the internal agent-based architectural model of kinesin nanomotor as a deterministic finite automaton (DFA) model and generates a regular machine language. The generated regular machine language was acceptable by the architectural DFA model of the nanomotor and also in good agreement with its natural behaviour. The internal agent-based architectural model of kinesin nanomotor indicates the degree of autonomy and intelligence of the nanomotor interactions with its cell. Thus, our developed regular machine language can model the degree of autonomy and intelligence of kinesin nanomotor interactions with its cell as a language. Modelling of internal architectures of autonomous and intelligent bio-nanosystems as machine languages can lay the foundation towards the concept of bio-nanoswarms and next phases of the bio-nanorobotic systems development.

Matched MeSH terms: Robotics*
Fulltext Development and performance of a new prosthesis system using ultrasonic sensor for wrist movements: a preliminary study

Abd Razak NA, Abu Osman NA, Gholizadeh H, Ali S

Biomed Eng Online, 2014 Apr 23;13:49.
PMID: 24755242 DOI: 10.1186/1475-925X-13-49

BACKGROUND: The design and performance of a new development prosthesis system known as biomechatronics wrist prosthesis is presented in this paper. The prosthesis system was implemented by replacing the Bowden tension cable of body powered prosthesis system using two ultrasonic sensors, two servo motors and microcontroller inside the prosthesis hand for transradial user.
METHODS: The system components and hand prototypes involve the anthropometry, CAD design and prototyping, biomechatronics engineering together with the prosthetics. The modeler construction of the system develop allows the ultrasonic sensors that are placed on the shoulder to generate the wrist movement of the prosthesis. The kinematics of wrist movement, which are the pronation/supination and flexion/extension were tested using the motion analysis and general motion of human hand were compared. The study also evaluated the require degree of detection for the input of the ultrasonic sensor to generate the wrist movements.
RESULTS: The values collected by the vicon motion analysis for biomechatronics prosthesis system were reliable to do the common tasks in daily life. The degree of the head needed to bend to give the full input wave was about 45°-55° of rotation or about 14 cm-16 cm. The biomechatronics wrist prosthesis gave higher degree of rotation to do the daily tasks but did not achieve the maximum degree of rotation.
CONCLUSION: The new development of using sensor and actuator in generating the wrist movements will be interesting for used list in medicine, robotics technology, rehabilitations, prosthetics and orthotics.

Matched MeSH terms: Robotics/instrumentation*
Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators

Amini H, Farzaneh B, Azimifar F, Sarhan AAD

ISA Trans, 2016 Sep;64:293-302.
PMID: 27329852 DOI: 10.1016/j.isatra.2016.05.006

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm.

Matched MeSH terms: Robotics
Fulltext Development of a Scalable Testbed for Mobile Olfaction Verification

Zakaria SM, Visvanathan R, Kamarudin K, Yeon AS, Md Shakaff AY, Zakaria A, et al.

Sensors (Basel), 2015;15(12):30894-912.
PMID: 26690175 DOI: 10.3390/s151229834

The lack of information on ground truth gas dispersion and experiment verification information has impeded the development of mobile olfaction systems, especially for real-world conditions. In this paper, an integrated testbed for mobile gas sensing experiments is presented. The integrated 3 m × 6 m testbed was built to provide real-time ground truth information for mobile olfaction system development. The testbed consists of a 72-gas-sensor array, namely Large Gas Sensor Array (LGSA), a localization system based on cameras and a wireless communication backbone for robot communication and integration into the testbed system. Furthermore, the data collected from the testbed may be streamed into a simulation environment to expedite development. Calibration results using ethanol have shown that using a large number of gas sensor in the LGSA is feasible and can produce coherent signals when exposed to the same concentrations. The results have shown that the testbed was able to capture the time varying characteristics and the variability of gas plume in a 2 h experiment thus providing time dependent ground truth concentration maps. The authors have demonstrated the ability of the mobile olfaction testbed to monitor, verify and thus, provide insight to gas distribution mapping experiment.

Matched MeSH terms: Robotics
Fulltext Performance analysis of the Microsoft Kinect sensor for 2D Simultaneous Localization and Mapping (SLAM) techniques

Kamarudin K, Mamduh SM, Shakaff AY, Zakaria A

Sensors (Basel), 2014;14(12):23365-87.
PMID: 25490595 DOI: 10.3390/s141223365

This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS). The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect's depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks.

Matched MeSH terms: Robotics
Fulltext Sensing and Self-Sensing Actuation Methods for Ionic Polymer-Metal Composite (IPMC): A Review

MohdIsa W, Hunt A, HosseinNia SH

Sensors (Basel), 2019 Sep 14;19(18).
PMID: 31540032 DOI: 10.3390/s19183967

Ionic polymer-metal composites (IPMC) are smart material transducers that bend in response to low-voltage stimuli and generate voltage in response to bending. IPMCs are mechanically compliant, simple in construction, and easy to cut into desired shape. This allows the designing of novel sensing and actuation systems, e.g., for soft and bio-inspired robotics. IPMC sensing can be implemented in multiple ways, resulting in significantly different sensing characteristics. This paper will review the methods and research efforts to use IPMCs as deformation sensors. We will address efforts to model the IPMC sensing phenomenon, and implementation and characteristics of different IPMC sensing methods. Proposed sensing methods are divided into active sensing, passive sensing, and self-sensing actuation (SSA), whereas the active sensing methods measure one of IPMC-generated voltage, charge, or current; passive methods measure variations in IPMC impedances, or use it in capacitive sensor element circuit, and SSA methods implement simultaneous sensing and actuation on the same IPMC sample. Frequency ranges for reliable sensing vary among the methods, and no single method has been demonstrated to be effective for sensing in the full spectrum of IPMC actuation capabilities, i.e., from DC to ∼100 Hz. However, this limitation can be overcome by combining several sensing methods.

Matched MeSH terms: Robotics
Fulltext Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator-Fuzzy Logic Algorithms and Sensor Fusion

Ali MAH, Mailah M, Jabbar WA, Moiduddin K, Ameen W, Alkhalefah H

Sensors (Basel), 2020 Jul 01;20(13).
PMID: 32630340 DOI: 10.3390/s20133694

A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator-fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road's roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot's path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.

Matched MeSH terms: Robotics
Fulltext Robust H∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

Ahmad NS

Sensors (Basel), 2020 Jun 30;20(13).
PMID: 32630046 DOI: 10.3390/s20133673

Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust H ∞ -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the H ∞ controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the H ∞ controller alone, and the H ∞ with the FL compensator, but without the presence of the robust control law.

Matched MeSH terms: Robotics
Fulltext Path finding of static indoor mobile robot via AOR iterative method using harmonic potentials

A'qilah Ahmad Dahalan, Azali Saudi, Jumat Sulaiman

ZULFAQAR International Journal of Defence Science, Engineering & Technology, 2020;3(2):18-24.
MyJurnal

Mobile robots often have to discover a path of collision-free towards a specific goal point in their environment. We are trying to resolve the mobile robot problem iteratively by means of numerical technique. It is built on a method of potential field that count on the use of Laplace’s equation in the mobile robot’s configuration space to constrain/which reduces the generation of a potential function over regions. This paper proposed an iterative approach in solving robot path finding problem known as Accelerated Over-Relaxation (AOR). The experiment shows that these suggested approach can establish a smooth path between the starting and goal points by engaging with a finite-difference technique. The simulation results also show that a more rapidly solution with smoother path than the previous work is achieved via this numerical approach.

Matched MeSH terms: Robotics

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