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Global Path Optimization of Humanoid NAO in Static Environment Using Prim’s Algorithm

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Intelligent Systems

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 185))

Abstract

This paper focuses on navigation of a humanoid robot cluttered with obstacles, avoiding collisions in static environment using Prim’s algorithm. Prim’s algorithm is a minimum spanning tree (MST) method with greedy approach which uses the concept of sets. It generates the MST by selecting least weights from the weighted graph and randomly forms disjoint sets with picking one least weight edge from the ones remaining for creating node incident to form the tree. Similar approach repeats for selecting all ‘n – 1’ edges to the tree which is the path direction to humanoid NAO. The developed algorithm is implemented in both simulation and experimental platforms to obtain the navigational results. The simulation and experimental navigational results confirm the efficiency of the path planning strategy as the percentage of deviations of navigational parameters is below 6%.

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Authors and Affiliations

  1. Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology Rourkela, Rourkela, 769008, Odisha, India

    Manoj Kumar Muni, Dayal R. Parhi & Saroj Kumar

  2. Mechanical Engineering Department, National Institute of Technology Hamirpur, Hamirpur, 177005, Himachal Pradesh, India

    Priyadarshi Biplab Kumar

  3. School of Mechanical Engineering, Vellore Institute of Technology Vellore, Vellore, 632014, Tamil Nadu, India

    Chinmaya Sahu

  4. Mechanical Engineering Department, Indira Gandhi Institute of Technology, Sarang, 759146, Odisha, India

    Prasant Ranjan Dhal

Authors
  1. Manoj Kumar Muni
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  2. Dayal R. Parhi
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  3. Priyadarshi Biplab Kumar
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  4. Chinmaya Sahu
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  5. Prasant Ranjan Dhal
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  6. Saroj Kumar
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Corresponding author

Correspondence to Manoj Kumar Muni .

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Editors and Affiliations

  1. School of computer and Information Sciences, University of Hyderabad, Hyderabad, Telangana, India

    Siba K. Udgata

  2. IGIT Sarang, Dhenkanal, Odisha, India

    Srinivas Sethi

  3. Institute of Computer Science, University of Tartu, Tartu, Estonia

    Satish N. Srirama

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Muni, M.K., Parhi, D.R., Kumar, P.B., Sahu, C., Dhal, P.R., Kumar, S. (2021). Global Path Optimization of Humanoid NAO in Static Environment Using Prim’s Algorithm. In: Udgata, S.K., Sethi, S., Srirama, S.N. (eds) Intelligent Systems. Lecture Notes in Networks and Systems, vol 185. Springer, Singapore. https://doi.org/10.1007/978-981-33-6081-5_3

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