Papers by Dr. Paramasivam Chelladurai
IJMMS, 2009
This paper describes the development of a pair of homogeneous mobile robot using AT89C51 microcon... more This paper describes the development of a pair of homogeneous mobile robot using AT89C51 microcontroller with two 6V DC motors to address the box-pushing problem. In this work, two homogeneous mobile robots have been fully developed exclusively to address the box-pushing application that is described as "Pushing a box like solid item to reach the goal position already defined by more than one mobile robot through the cooperation among them". Teaching the mobile robots using reinforcement learning is easier, because of specifying a reward function for every task completed by them.
IJAER, 2009
The aim of the present work is to develop a mobile robot for path planning with obstacle avoidanc... more The aim of the present work is to develop a mobile robot for path planning with obstacle avoidance using heuristic based computer vision technique. The dimension of the working environment is fixed as 900 x 1200 mm plane surface in which many obstacles are present. A web camera of is used to capture the 2D image of work area. The camera is fixed at a height of 170 cm at the focal length of the camera. The captured image of the working table is thresholded in order to get clear boundaries of the obstacles on the image using a code written in MATLAB 7.0 software. The area and centroid of the obstacles are determined and it gives the location of the obstacle on the working area with respect to the image reference. The wave front heuristic algorithm is implemented in order to develop navigation procedure for mobile robot through computer vision technique. The simulation module gives the resultant path with obstacle avoidance within the assumed environment. The actual experiments have been conducted and mobile robot is reaching target as per the path produced in the simulation.
IJIWET, 2015
This research work, deals with the development of a suitable methodology for mobile robot path pl... more This research work, deals with the development of a suitable methodology for mobile robot path planning with obstacle avoidance in a static known environment. Here, a mobile robot is fabricated with ATMEL89C51 microcontroller. The fabricated mobile robot is a non-holonomic robot with simple skeleton structure. This work comprises of four modules, first, a suitable skeleton has been developed to suit with plane rectangular surface. In the second module, a printed circuit board is fabricated. In third module, a microcontroller program is written using ATMEL89C51 for the navigation is mobile robot. Finally, all the components are assembled for the fabrication of a nonholonomic mobile robot. I.
IJIWET, 2015
Now-a-days, the Robotic applications are gradually becoming a part of lives. The major bottleneck... more Now-a-days, the Robotic applications are gradually becoming a part of lives. The major bottlenecks of these robotic systems are the complex implementation procedure, lack of ability to perceive and adapt to unpredictable environment. An autonomous robot applications, different types of heuristic methodologies are proposed by researchers like reinforcement learning algorithm, potential field algorithm and wave front algorithm. Here, a potential field heuristic algorithm is experimentally studied using Mobile robot for its path planning in order to complete certain task and the observation are tabulated.The analysis of variance statistical test isalso adopted to check the reliability and stability of the methodologies proposed.
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Papers by Dr. Paramasivam Chelladurai