A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots

Abstract

In this study, a map for the current environment is produced by a Robot Operating System (ROS) powered Autonomous Mobile Robot (AMR) which was designed for this study. The AMR can locate itself on the produced map with the aid of an integrated Light Detection and Ranging sensor (LIDAR) by executing a predefined algorithm. The locomotion of the robot to a user defined location on the produced map is performed by following an optimal path that is based on AMR's own navigation plan. Dijkstra’s algorithm and a modified version of Dijkstra’s algorithm, which is modified by the authors for this study, are run on the AMR hardware, and this hardware is tested in real time in a real medium. Thus, a cost-effective AMR platform, which has the capability of Simultaneous Localization and Mapping (SLAM), is devel-oped, and its performance and capabilities are analysed. Two algorithms were compared according to the results obtained from the robot locomotion.

A survey on puncture models and path planning algorithms of bevel-tipped flexible needles

“…They demonstrated the efficiency and feasibility of their approach in path planning for an automatic storage-retrieval system (AS/RS), albeit without guaranteed efficiency. Çelik et al [ 55 ] further improved the Dijkstra shortest path algorithm by continuously estimating the node distances for two successive steps between two consecutive nodes, greatly improving the computational efficiency and optimal path quality.…”