Browsing by Author "Abeygunawardena, N"

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Open Access
Adaptive Path Planning for Mobile Robots Using a Hybrid PRM–GA Optimization Approach
(John Wiley and Sons Ltd, 2026-04-10) Jathunga, T; Rajapaksha, S; Jayasinghe, S; Abeygunawardena, N
This study addresses the challenge of path planning in mobile robots, that requires efficient navigation in complex environments. Traditional approaches often struggle to meet the increasing demands of modern multi-robot systems operating in dynamic environments. To address these limitations, this study proposes an improved path planning technique by combining the probabilistic roadmap (PRM) with the genetic algorithm (GA), forming a hybrid PRM–GA approach designed to optimize the routes of mobile robots. Experiments were carried out for scenarios involving 2, 3, and 9 robots to analyze the performance of the proposed method under increasing complexity. The proposed PRM–GA method was compared with widely used path planning algorithms including (Formula presented.), Rapidly exploring random tree (RRT), and conventional PRM. Performance of each method was evaluated focusing on path efficiency and energy consumption. The enhanced fitness function within the GA evaluates robot paths based not only on distance but also on smoothness and turn count, promoting routes with fewer directional changes. The proposed PRM–GA method reduces robot energy consumption while improving navigation efficiency. Experimental results demonstrate that the PRM–GA hybrid method outperforms (Formula presented.), RRT, and PRM by encouraging smoother paths with fewer turns, thereby enhancing the operational efficiency of multi-robot systems. The effectiveness of the proposed approach highlights its potential for practical applications in sectors where efficient mobile robot navigation is essential.genetic algorithm
Embargo
Enhancing Chronic Kidney Disease Prediction : A Hybrid Approach Combining Logistic Regression and Random Forest Models
(Institute of Electrical and Electronics Engineers Inc., 2025) Jathunga, T; Abeygunawardena, N
This study investigates the use of Machine Learning (ML) models for Chronic Kidney Disease (CKD) prediction, comparing Logistic Regression with L1 and L2 regularization, Random Forest , and a Hybrid Voting Classifier. The models were evaluated using performance metrics including accuracy, precision, recall, and F1-score, with the hybrid model demonstrating the highest accuracy of 99 percent, followed by Random Forest at 98 percent. Logistic Regression models achieved accuracies of 97 percent and 98 percent , with slight variations in recall for different classes. Cross-validation and learning curve analyses indicated minimal overfitting in ensemble models. These results emphasize the potential of ML models for accurate CKD prediction, suggesting further research into model optimization and data preprocessing techniques.