Path Planning Application using Dijkstra Algorithm on Service Robot

Abstract

The advancement of robot technology in mobile robots is quickly evolving and being utilized in various sectors such as industries, military, medicine, and public services. Challenges consist of perception, localization, motion control, and path planning. The aim of Dijkstra's algorithm, which is a greedy algorithm, is to optimize path planning to improve movement efficiency. Dijkstra's algorithm is a useful method in graph theory to find the shortest path between two nodes in a weighted graph, utilizing an iterative approach to compute the distance. The algorithm being suggested speeds up the initial process by simultaneously determining the shortest route from the starting point to all other points, utilizing various paths or continuing on the same path to reach additional nodes. Nonetheless, it begins at the central node, utilizing data that is not influenced by the route taken. The author experimented with Dijkstra's algorithm using a Service Robot, successfully navigating past three obstacles without any collisions. The robot demonstrated success in finding the shortest and fastest path by maintaining an average speed of 0.23 m/s and average errors of 0.021 metres on the x-axis and 0.017 metres on the y-axis.