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Papers by Muhammad Zohaib

Research paper thumbnail of Intelligent Bug Algorithm (IBA): A Novel Strategy to Navigate Mobile Robots Autonomously

arXiv (Cornell University), Nov 25, 2013

This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobi... more This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug algorithms. The improved algorithm offers a goal oriented strategy by following smooth and short trajectory. This has been achieved by continuously considering the goal position during obstacle avoidance. The proposed algorithm is computationally inexpensive and easy to tune. The paper also presents the performance comparison of IBA and reported Bug algorithms. Simulation results of robot navigation in an environment with obstacles demonstrate the performance of the improved algorithm.

Research paper thumbnail of Control Strategies for Mobile Robot With Obstacle Avoidance

arXiv (Cornell University), Jun 5, 2013

Research paper thumbnail of An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

Studies in Informatics and Control, 2014

This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The... more This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The proposed approach brings a solution to the problem of robot traversal in critical shaped environments and offers several advantages compared to the reported approaches. The algorithmic approach, named as, Intelligent Follow the Gap Method (IFGM) is based on improved Intelligent Bug Algorithm (IBA) and Follow the Gap Method (FGM). The robot field of view is taken into consideration. The IBA avoids obstacles by following their edge and scanning the path to destination, thus making the approach goal-oriented avoiding local minimum problem. To characterize the performance of IFGM, various scenarios of obstacles are considered. These scenarios range from having obstacles defined by simple and symmetrical shapes to critical shaped obstacles. The simulation results demonstrate that the algorithm results in safer and smoother trajectories in the presence of obstacles. It offers fast convergence and does not suffer from local minima. Finally, the performance comparison of the proposed algorithm with that of the reported approaches in terms of distance-time plots confirms the efficacy of the presented approach. The proposed algorithm lends itself to future implementations in the navigation of mobile and industrial robots, especially in applications exhibiting crucial time and critical obstacles including disaster management, spy, elderly people assistance and soccer games.

Research paper thumbnail of A centralized architecture for inventory management using RFID

2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI), 2016

The paper presents Radio Frequency Identification (RFID) based solution for inventory management ... more The paper presents Radio Frequency Identification (RFID) based solution for inventory management reported by the researchers in various case studies of warehouses. Limitations and challenges faced by companies in monitoring and managing inventory are highlighted. To cope with the associated complexities, a centralized architecture with four different configurations is proposed. The presented configurations help to manage inventory of warehouse in an efficient and accurate manner. The final proposed configuration over-performs among previous configurations in terms of minimizing human assistance. It automates the inventory management system by making it capable of real time monitoring and construction of projects demanding simultaneous execution. It allows to meet with projects budget and deadlines. The paper also critically presents a comparative analysis of the two relevant technologies i.e. RFID and barcode.

Research paper thumbnail of An Intelligent Bug Algorithm (IBA) to Navigate an Autonomous Mobile Robot

This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobi... more This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug algorithms. The improved algorithm offers a goal oriented strategy by following smooth and short trajectory. This has been achieved by continuously considering the goal position during obstacle avoidance. The proposed algorithm is computationally inexpensive and easy to tune. The paper also presents the performance comparison of IBA and reported Bug algorithms. Simulation results of robot navigation in an environment with obstacles demonstrate the performance of the improved algorithm.

Research paper thumbnail of IBA: Intelligent Bug Algorithm – A Novel Strategy to Navigate Mobile Robots Autonomously

Communications in Computer and Information Science, 2014

ABSTRACT

Research paper thumbnail of Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation

2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014

ABSTRACT This paper presents kinematic model of two configurations of a wheeled mobile robot. Two... more ABSTRACT This paper presents kinematic model of two configurations of a wheeled mobile robot. Two-wheeled robot with castor and four-wheeled robot are considered for modeling. Kinematic equations, modeled in MATLAB/Simulink, represent the position and angle of the mobile robots. Simulation results illustrate the actual trajectory followed by the ‘soft’ robot. The potential use of the derived kinematic model is two folds; in research as well as in academia. The model can be employed to test and validate advanced algorithms related with mobile robots e.g. for collision avoidance, path-planning, navigation etc while in an educational environment, it can assist students to study the behavior and nonholonomic constraints of their robots prior to their fabrication for competitions. As a case study to demonstrate the application of the developed model, the present research proposed a novel collision avoidance algorithm named as Intelligent Bug Algorithm (IBA). Preliminary comparative results dictate that IBA outperforms the reported Bug algorithms.

Research paper thumbnail of Intelligent Bug Algorithm (IBA): A Novel Strategy to Navigate Mobile Robots Autonomously

arXiv (Cornell University), Nov 25, 2013

This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobi... more This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug algorithms. The improved algorithm offers a goal oriented strategy by following smooth and short trajectory. This has been achieved by continuously considering the goal position during obstacle avoidance. The proposed algorithm is computationally inexpensive and easy to tune. The paper also presents the performance comparison of IBA and reported Bug algorithms. Simulation results of robot navigation in an environment with obstacles demonstrate the performance of the improved algorithm.

Research paper thumbnail of Control Strategies for Mobile Robot With Obstacle Avoidance

arXiv (Cornell University), Jun 5, 2013

Research paper thumbnail of An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

Studies in Informatics and Control, 2014

This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The... more This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The proposed approach brings a solution to the problem of robot traversal in critical shaped environments and offers several advantages compared to the reported approaches. The algorithmic approach, named as, Intelligent Follow the Gap Method (IFGM) is based on improved Intelligent Bug Algorithm (IBA) and Follow the Gap Method (FGM). The robot field of view is taken into consideration. The IBA avoids obstacles by following their edge and scanning the path to destination, thus making the approach goal-oriented avoiding local minimum problem. To characterize the performance of IFGM, various scenarios of obstacles are considered. These scenarios range from having obstacles defined by simple and symmetrical shapes to critical shaped obstacles. The simulation results demonstrate that the algorithm results in safer and smoother trajectories in the presence of obstacles. It offers fast convergence and does not suffer from local minima. Finally, the performance comparison of the proposed algorithm with that of the reported approaches in terms of distance-time plots confirms the efficacy of the presented approach. The proposed algorithm lends itself to future implementations in the navigation of mobile and industrial robots, especially in applications exhibiting crucial time and critical obstacles including disaster management, spy, elderly people assistance and soccer games.

Research paper thumbnail of A centralized architecture for inventory management using RFID

2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI), 2016

The paper presents Radio Frequency Identification (RFID) based solution for inventory management ... more The paper presents Radio Frequency Identification (RFID) based solution for inventory management reported by the researchers in various case studies of warehouses. Limitations and challenges faced by companies in monitoring and managing inventory are highlighted. To cope with the associated complexities, a centralized architecture with four different configurations is proposed. The presented configurations help to manage inventory of warehouse in an efficient and accurate manner. The final proposed configuration over-performs among previous configurations in terms of minimizing human assistance. It automates the inventory management system by making it capable of real time monitoring and construction of projects demanding simultaneous execution. It allows to meet with projects budget and deadlines. The paper also critically presents a comparative analysis of the two relevant technologies i.e. RFID and barcode.

Research paper thumbnail of An Intelligent Bug Algorithm (IBA) to Navigate an Autonomous Mobile Robot

This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobi... more This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug algorithms. The improved algorithm offers a goal oriented strategy by following smooth and short trajectory. This has been achieved by continuously considering the goal position during obstacle avoidance. The proposed algorithm is computationally inexpensive and easy to tune. The paper also presents the performance comparison of IBA and reported Bug algorithms. Simulation results of robot navigation in an environment with obstacles demonstrate the performance of the improved algorithm.

Research paper thumbnail of IBA: Intelligent Bug Algorithm – A Novel Strategy to Navigate Mobile Robots Autonomously

Communications in Computer and Information Science, 2014

ABSTRACT

Research paper thumbnail of Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation

2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014

ABSTRACT This paper presents kinematic model of two configurations of a wheeled mobile robot. Two... more ABSTRACT This paper presents kinematic model of two configurations of a wheeled mobile robot. Two-wheeled robot with castor and four-wheeled robot are considered for modeling. Kinematic equations, modeled in MATLAB/Simulink, represent the position and angle of the mobile robots. Simulation results illustrate the actual trajectory followed by the ‘soft’ robot. The potential use of the derived kinematic model is two folds; in research as well as in academia. The model can be employed to test and validate advanced algorithms related with mobile robots e.g. for collision avoidance, path-planning, navigation etc while in an educational environment, it can assist students to study the behavior and nonholonomic constraints of their robots prior to their fabrication for competitions. As a case study to demonstrate the application of the developed model, the present research proposed a novel collision avoidance algorithm named as Intelligent Bug Algorithm (IBA). Preliminary comparative results dictate that IBA outperforms the reported Bug algorithms.