Humanoid navigation has been the center of attraction among robotic researchers since many years by virtue of their increasing use in industrial automation and smart manufacturing. In the current research, a firefly based computer vision integrated navigational analysis has been performed on humanoid robots for smooth movement by negotiation with obstacles present in complicated terrains. Here, the logic of the firefly algorithm has been used to design the controller by careful consideration of the navigational parameters. A computer vision based method is integrated along with the developed controller to resolve some conflicting situations that may arise by encountering large sized obstacle or detection of an obstacle exactly in front of the robot where the robot becomes confused regarding the direction of turn. The developed navigational model has been tested in simulation environments by considering NAO robot as the humanoid platform. The simulation results are also verified through an experimental platform developed under research laboratory conditions. The data obtained from both the platforms are compared in terms of navigational parameters and are found to be in close proximity to each other. Finally, the developed navigational model is also authenticated against other existing models for validating better efficiency.

中文翻译：

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人形导航：一种基于萤火虫的方法

多年来，由于机器人在工业自动化和智能制造中的应用越来越多，人形导航一直是机器人研究人员关注的焦点。在目前的研究中，基于萤火虫的计算机视觉综合导航分析已经在仿人机器人上进行，通过与复杂地形中存在的障碍物协商来实现平滑运动。在这里，通过仔细考虑导航参数，萤火虫算法的逻辑已被用于设计控制器。基于计算机视觉的方法与开发的控制器相结合，以解决一些冲突情况，这些情况可能因遇到大型障碍物或检测到机器人正前方的障碍物而导致机器人对转弯方向感到困惑。开发的导航模型已经通过将 NAO 机器人作为人形平台在模拟环境中进行了测试。模拟结果也通过在研究实验室条件下开发的实验平台得到验证。从两个平台获得的数据在导航参数方面进行了比较，发现彼此非常接近。最后，还针对其他现有模型对开发的导航模型进行了验证，以验证更高的效率。从两个平台获得的数据在导航参数方面进行了比较，发现彼此非常接近。最后，还针对其他现有模型对开发的导航模型进行了验证，以验证更高的效率。从两个平台获得的数据在导航参数方面进行了比较，发现彼此非常接近。最后，还针对其他现有模型对开发的导航模型进行了验证，以验证更高的效率。