Bulletin of Electrical Engineering and Informatics
Vol 7, No 3: September 2018

GA-based Optimisation of a LiDAR Feedback Autonomous Mobile Robot Navigation System

Siti Nurhafizah Anual (Universiti Kebangsaan Malaysia)
Mohd Faisal Ibrahim (Universiti Kebangsaan Malaysia)
Nurhana Ibrahim (Universiti Kebangsaan Malaysia)
Aini Hussain (Universiti Kebangsaan Malaysia)
Mohd Marzuki Mustafa (Universiti Kebangsaan Malaysia)
Aqilah Baseri Huddin (Universiti Kebangsaan Malaysia)
Fazida Hanim Hashim (Universiti Kebangsaan Malaysia)

Article Info

Publish Date
01 Sep 2018


Autonomous mobile robots require an efficient navigation system in order to navigate from one location to another location fast and safe without hitting static or dynamic obstacles. A light-detection-and-ranging (LiDAR) based autonomous robot navigation is a multi-component navigation system consists of various parameters to be configured. With such structure and sometimes involving conflicting parameters, the process of determining the best configuration for the system is a non-trivial task. This work presents an optimisation method using Genetic algorithm (GA) to configure such navigation system with tuned parameters automatically. The proposed method can optimise parameters of a few components in a navigation system concurrently. The representation of chromosome and fitness function of GA for this specific robotic problem are discussed. The experimental results from simulation and real hardware show that the optimised navigation system outperforms a manually-tuned navigation system of an indoor mobile robot in terms of navigation time.

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