Shaher Alshammrei1, Sahbi Boubaker2,*, Lioua Kolsi1,3
CMC-Computers, Materials & Continua, Vol.72, No.3, pp. 5939-5954, 2022, DOI:10.32604/cmc.2022.028165
Abstract Optimal path planning avoiding obstacles is among the most attractive applications of mobile robots (MRs) in both research and education. In this paper, an optimal collision-free algorithm is designed and implemented practically based on an improved Dijkstra algorithm. To achieve this research objectives, first, the MR obstacle-free environment is modeled as a diagraph including nodes, edges and weights. Second, Dijkstra algorithm is used offline to generate the shortest path driving the MR from a starting point to a target point. During its movement, the robot should follow the previously obtained path and stop at each node to test if there… More >
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