Mississippi State University
Ball, John E.
Date of Degree
Original embargo terms
Campus Access Only 2 Years
Dissertation - Campus Access Only
Electrical and Computer Engineering
Doctor of Philosophy (Ph.D)
James Worth Bagley College of Engineering
Department of Electrical and Computer Engineering
The realm of autonomous robotics has seen impressive advancements in recent years, with robots taking on essential roles in various sectors, including disaster response, environmental monitoring, agriculture, and healthcare. As these highly intelligent machines continue to integrate into our daily lives, the pressing imperative is to elevate and refine their performance, enabling them to adeptly manage complex tasks with remarkable efficiency, adaptability, and keen decision-making abilities, all while prioritizing safety-aware navigation, mapping, and control systems. Ensuring the safety-awareness of these robotic systems is of paramount importance in their development and deployment. In this research, bio-inspired neural networks, nature-inspired intelligence, deep learning, heuristic algorithm and optimization techniques are developed for safety-aware autonomous robots navigation, mapping and control. A bio-inspired neural network (BNN) local navigator coupled with dynamic moving windows (DMW) is developed in this research to enhance obstacle avoidance and refines safe trajectories. A hybrid model is proposed to optimize trajectory of the global path of a mobile robot that maintains a safe distance from obstacles using a graph-based search algorithm associated with an improved seagull optimization algorithm (iSOA). A Bat-Pigeon algorithm (BPA) is proposed to undertake adjustable speed navigation of autonomous vehicles in light of object detection for safety-aware vehicle path planning, which can automatically adjust the speed in different road conditions. In order to perform effective collision avoidance in multi-robot task allocation, a spatial dislocation scheme is developed by introduction of an additional dimension for UAVs at different altitudes, whereas UAVs avoid collision at the same altitude using a proposed velocity profile paradigm. A multi-layer robot navigation system is developed to explore row-based environment. A directed coverage path planning (DCPP) fused with an informative planning protocol (IPP) method is proposed to efficiently and safely search the entire workspace. A human-autonomy teaming strategy is proposed to facilitate cooperation between autonomous robots and human expertise for safe navigation to desired areas. Simulation, comparison studies and on-going experimental results of optimization algorithms applied for autonomous robot systems demonstrate their effectiveness, efficiency and robustness of the proposed methodologies.
Lei, Tingjun, "Safety-aware autonomous robot navigation, mapping and control by optimization techniques" (2023). Theses and Dissertations. 5980.