Development of cognitive navigation algorithm and multi-communication mechanism for robotic system

Abstract

The development of technology in the field of navigation and communication areas for robots are growing rapidly especially in controlling and coordinating multiple robot simultaneously in doing a task. The possibility of completion of the task is also dependent on the robustness of the communication among the robots and finding the path. Many of previous works use several sensors such camera, GPS, light dependencies or compass to navigate from start point to destination, however it will cost higher. Therefore, this thesis will describe the investigation on the design of robot navigation and communication as support for precision. The navigation is using imaginary map that has created inside the robot brain which called cognitive navigation, the navigation should be used with robot that has limited number of sensors. cognitive navigation is inspired by people that are trapped in dark room to find the way to go from current position point to exit point or destination. Multi-Communication is combination of two communication modules which radio module and infrared module. The radio module is used for long distance communication and the infrared module is used as short distance communication. The Multi-Communication plays an important role in precision which is in distinguishing between robot or the obstacle. The result of cognitive navigation will be compared with other navigations that commonly used in Robotic field by using Vargha-Delaney A Test. Base on the experiment result, the propose navigation shows an improvement in term of efficiency of steps of the robot and performance in finding shortest path.