An American Sign Language (ASL) is a complex language. It is depending on the special gesture stander of marks. These marks are represented by hands with assistance by facial expression and body posture. ASL is the main communication language of deaf and people who have hard hearing from North America and other parts of the world. In this paper, Gesture recognition is proposed of static ASL using Deep Learning. The contribution consists of two solutions to the problem. The first one is resized with Bicubic static ASL binary images. Besides that, good recognition results in of detection the boundary hand using the Robert edge detection method. The second solution is to classify the 24 alphabets static characters of ASL using Convolution Neural Network (CNN) and Deep Learning. The classification accuracy equals to 99.3 % and the error of loss function is 0.0002. According to 36 minutes with 15 seconds of elapsed time result and 100 iterations. The training is fast and gives the very good results, in comparison with other related works of CNN, SVM, and ANN for training.
n this paper, a unique combination among probabilistic roadmap, ant colony optimization, and third order B-spline curve has been proposed to solve path-planning problem in complex and very complex environments. This proposed method can be divided into three stages. First stage is to construct a random map depending on the environment complexity using probabilistic roadmap algorithm. This could be done by sampling N nodes randomly in complex and very complex static environments, then connecting these nodes together according to some criteria or conditions. The constructed roadmap contains huge number of possible random paths that may connect the start and the goal points together. Second stage includes finding path within the pre-constructed roadmap. Ant colony optimization is selected to find or to search the best path between start and goal points. Finally, the third stage uses B-spline curve to smooth and reduce total length of the found path in the previous stage where path’s length has been reduced by 1% in first environment and by 15% in second environment. The results of the proposed approach ensure feasible path between start and goal points in complex and very complex environment. In addition, the path is guaranteed to be shortest, smooth, continues and safe.
In this paper, a unique combination among probabilistic roadmap, modified ant colony optimization, and third order B-spline curve has been proposed to solve path planning problems in complex and very complex environments. This proposed approach can be divided into three stages. First stage involves constructing a random roadmap depending on the environment complexity using probabilistic roadmap algorithm. Roadmap can be constructed by distributing N nodes randomly in complex and very complex static environments then pairing these nodes together according to some criteria or conditions. The constructed roadmap contains a huge number of possible random paths that may lead to connecting the start and the goal points together. Second stage includes finding path within the pre-constructed roadmap. Modified ant colony optimization has been proposed to find or to search the best path between start and goal points, where in addition to the proposed combination, ACO has been modified to increase its ability to find shorter path. Finally, the third stage uses B-spline curve to smooth and reduce the total length of the found path in the previous stage. The results of the proposed approach ensure the feasible path between start and goal points in complex and very complex environments. Also, the path is guaranteed to be short, smooth, continuous and safe.
This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains, since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers, so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology for obtaining robot interactive path planning solution in known dynamic environment utilizes the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique. Also, a modification on the D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the final path length optimality, the PSO technique was used. The simulation results are given to show the effectiveness of the proposed method.
Abstract Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D* and Euclidean distances. The quintic polynomial equation is utilized to provide a smooth trajectory path. According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments. Keywords: D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm.
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