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Real time obstacle motion prediction using neural network based extended Kalman filter for robot path planning
Joint Authors
Source
Issue
Vol. 50, Issue 2 A (30 Apr. 2023), pp.1-20, 20 p.
Publisher
Kuwait University Academic Publication Council
Publication Date
2023-04-30
Country of Publication
Kuwait
No. of Pages
20
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
Navigation for mobile robots in dynamic environments necessitates estimating the path of dynamic obstacles, which is accomplished in this study using an enhanced kalman filter.
The measured data, however, contains bias and noise.
The SDAE, a deep learning-based neural network structure, delivers noise-free data that the Kalman filter uses to construct an optimal measurement noise covariance matrix.
This matrix is then used by the Kalman filter to estimate an error-free obstacle path.The SDAE is trained using both the Adam and stochastic gradient learning algorithms.
To ensure safe navigation, the robot’s path is re-planned based on the estimated obstacle path.
Numerical simulations using MATLAB demonstrate that the novel methodology is more relevant and superior to traditional Kalman and Particle filter approaches, and that it can be applied in a variety of navigational applications.
In terms of computing time and robustness in closely spaced obstacles, simulation testing indicated that path planning using the proposed technique excels the hybrid A star, artificial potential field, and decision algorithms.
American Psychological Association (APA)
Hasan, Najva& Abd al-Salim. 2023. Real time obstacle motion prediction using neural network based extended Kalman filter for robot path planning. Kuwait Journal of Science،Vol. 50, no. 2 A, pp.1-20.
https://search.emarefa.net/detail/BIM-1501196
Modern Language Association (MLA)
Hasan, Najva& Abd al-Salim. Real time obstacle motion prediction using neural network based extended Kalman filter for robot path planning. Kuwait Journal of Science Vol. 50, no. 2 A (Apr. 2023), pp.1-20.
https://search.emarefa.net/detail/BIM-1501196
American Medical Association (AMA)
Hasan, Najva& Abd al-Salim. Real time obstacle motion prediction using neural network based extended Kalman filter for robot path planning. Kuwait Journal of Science. 2023. Vol. 50, no. 2 A, pp.1-20.
https://search.emarefa.net/detail/BIM-1501196
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p 18-20
Record ID
BIM-1501196