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This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobile robot path planning problem in a two-dimensional map with the presence of constraints. This approach gives the possibility to find the path for a wheel mobile robot considering some constraints during the robot movement in both known and unknown environments. The feasible path is determined between the start and goal positions by generating wave of points in all direction towards the goal point with adhering to constraints. In simulation, the proposed method has been tested in several working environments with different degrees of complexity. The results demonstrated that the proposed method is able to generate efficiently an optimal collision-free path. Moreover, the performance of the proposed method was compared with the A-star and laser simulator (LS) algorithms in terms of path length, computational time and path smoothness. The results revealed that the proposed method has shortest path length, less computational time and the best smooth path. As an average, GLS is faster than A * and LS by 7.8 and 5.5 times, respectively and presents a path shorter than A * and LS by 1.2 and 1.5 times. In order to verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot (WMR) platform in labs and roads. The experimental work investigates a complete autonomous WMR path planning in the lab and road environments using a live video streaming. Local maps were built using data from a live 2698 CMC, 2022, vol.71, no.2 video streaming with real-time image processing to detect segments of the analogous-road in lab or real-road environments. The study shows that the proposed method is able to generate shortest path and best smooth trajectory from start to goal points in comparison with laser simulator.

The widespread use of digital images has led to a new challenge in digital image forensics. These images can be used in court as evidence of criminal cases. However, digital images are easily manipulated which brings up the need of a method to verify the authenticity of the image. One of the methods is by identifying the source camera. In spite of that, it takes a large amount of time to be completed by using traditional desktop computers. To tackle the problem, we aim to increase the performance of the process by implementing it in a distributed computing environment. We evaluate the camera identification process using conditional probability features and Apache Hadoop. The evaluation process used 6000 images from six different mobile phones of the different models and classified them using Apache Mahout, a scalable machine learning tool which runs on Hadoop. We ran the source camera identification process in a cluster of up to 19 computing nodes. The experimental results demonstrate exponential decrease in processing times and slight decrease in accuracies as the processes are distributed across the cluster. Our prediction accuracies are recorded between 85 to 95% across varying number of mappers.

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