A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots

Orkan Murat Çelik; Murat Köseoğlu

Makale detayları

A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots

Yazarlar:

Orkan Murat Çelik | Murat Köseoğlu

Yayıncı:

Çanakkale Onsekiz Mart University

Ana Başlıklar:

Electrical Engineering

Dergi:

Journal of Advanced Research in Natural and Applied Sciences Vol.9 Issue 1, pp.205-217

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001284623

pISSN:

2757-5195

Anahtar kelimeler:

Özet:

 Autonomous Mobile Robots AMRs are frequently used in many fields of technology. In this study, an AMR was designed to execute different path planning algorithms. Firstly, working principle, system architecture and motion planning of AMR are presented. Then, a map for the current environment is produced by a Robot Operating System ROS powered AMR which was designed for this study. The AMR locates itself on the produced map with the aid of an integrated Light Detection and Ranging sensor LIDAR. The locomotion of AMR to a user-defined target on the produced map is performed by an optimal path based on AMRs own navigation plan. Two different path planning algorithms, which are Dijkstras algorithm and a modified version of Dijkstras algorithm, are executed on a cost-effective AMR platform, which has the capability of Simultaneous Localization and Mapping SLAM. The reason why Dijkstra algorithm is handled in this study rather than A, D and RRT algorithms is that this algorithm is a basic and widely used algorithm. Dijkstras algorithm is modified, and pros and cons of the modified algorithm are analysed compared to Dijkstra algorithm. The proposed algorithm and navigation of AMR are tested both in real time in real world and as a simulation in Gazebo. Two algorithms were compared according to the results obtained from the robot locomotion both in real application and simulation environment. It is observed that the modified version of the Dijkstras algorithm comparatively yielded a bit more satisfactory results in the aspect of path planning.

 Autonomous Mobile Robots AMRs are frequently used in many fields of technology. In this study, an AMR was designed to execute different path planning algorithms. Firstly, working principle, system architecture and motion planning of AMR are presented. Then, a map for the current environment is produced by a Robot Operating System ROS powered AMR which was designed for this study. The AMR locates itself on the produced map with the aid of an integrated Light Detection and Ranging sensor LIDAR. The locomotion of AMR to a user-defined target on the produced map is performed by an optimal path based on AMRs own navigation plan. Two different path planning algorithms, which are Dijkstras algorithm and a modified version of Dijkstras algorithm, are executed on a cost-effective AMR platform, which has the capability of Simultaneous Localization and Mapping SLAM. The reason why Dijkstra algorithm is handled in this study rather than A, D and RRT algorithms is that this algorithm is a basic and widely used algorithm. Dijkstras algorithm is modified, and pros and cons of the modified algorithm are analysed compared to Dijkstra algorithm. The proposed algorithm and navigation of AMR are tested both in real time in real world and as a simulation in Gazebo. Two algorithms were compared according to the results obtained from the robot locomotion both in real application and simulation environment. It is observed that the modified version of the Dijkstras algorithm comparatively yielded a bit more satisfactory results in the aspect of path planning.

 Autonomous Mobile Robots AMRs are frequently used in many fields of technology. In this study, an AMR was designed to execute different path planning algorithms. Firstly, working principle, system architecture and motion planning of AMR are presented. Then, a map for the current environment is produced by a Robot Operating System ROS powered AMR which was designed for this study. The AMR locates itself on the produced map with the aid of an integrated Light Detection and Ranging sensor LIDAR. The locomotion of AMR to a user-defined target on the produced map is performed by an optimal path based on AMRs own navigation plan. Two different path planning algorithms, which are Dijkstras algorithm and a modified version of Dijkstras algorithm, are executed on a cost-effective AMR platform, which has the capability of Simultaneous Localization and Mapping SLAM. The reason why Dijkstra algorithm is handled in this study rather than A, D and RRT algorithms is that this algorithm is a basic and widely used algorithm. Dijkstras algorithm is modified, and pros and cons of the modified algorithm are analysed compared to Dijkstra algorithm. The proposed algorithm and navigation of AMR are tested both in real time in real world and as a simulation in Gazebo. Two algorithms were compared according to the results obtained from the robot locomotion both in real application and simulation environment. It is observed that the modified version of the Dijkstras algorithm comparatively yielded a bit more satisfactory results in the aspect of path planning.

 Autonomous Mobile Robots AMRs are frequently used in many fields of technology. In this study, an AMR was designed to execute different path planning algorithms. Firstly, working principle, system architecture and motion planning of AMR are presented. Then, a map for the current environment is produced by a Robot Operating System ROS powered AMR which was designed for this study. The AMR locates itself on the produced map with the aid of an integrated Light Detection and Ranging sensor LIDAR. The locomotion of AMR to a user-defined target on the produced map is performed by an optimal path based on AMRs own navigation plan. Two different path planning algorithms, which are Dijkstras algorithm and a modified version of Dijkstras algorithm, are executed on a cost-effective AMR platform, which has the capability of Simultaneous Localization and Mapping SLAM. The reason why Dijkstra algorithm is handled in this study rather than A, D and RRT algorithms is that this algorithm is a basic and widely used algorithm. Dijkstras algorithm is modified, and pros and cons of the modified algorithm are analysed compared to Dijkstra algorithm. The proposed algorithm and navigation of AMR are tested both in real time in real world and as a simulation in Gazebo. Two algorithms were compared according to the results obtained from the robot locomotion both in real application and simulation environment. It is observed that the modified version of the Dijkstras algorithm comparatively yielded a bit more satisfactory results in the aspect of path planning.

Makale detayları

A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots

Yazarlar:

Orkan Murat Çelik | Murat Köseoğlu

Yayıncı:

Çanakkale Onsekiz Mart University

Ana Başlıklar:

Electrical Engineering

Dergi:

Journal of Advanced Research in Natural and Applied Sciences Vol.9 Issue 1, pp.205-217

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001284623

pISSN:

2757-5195

AMR

dijkstra algorithm

path planning

Robot Navigation

ROS

Sayı

Makale detayları

A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots

Yazarlar: Orkan Murat Çelik | Murat Köseoğlu

Yayıncı: Çanakkale Onsekiz Mart University

Ana Başlıklar: Electrical Engineering

Dergi: Journal of Advanced Research in Natural and Applied Sciences Vol.9 Issue 1, pp.205-217

Belge Tipi: Makale

Yayın Tarihi: 6/2023

Belge Dili: İngilizce

Document ID (Org No.): 2001284623

pISSN: 2757-5195

AMR

dijkstra algorithm

path planning

Robot Navigation

ROS

Sayı

Yazarlar:

Orkan Murat Çelik | Murat Köseoğlu

Yayıncı:

Çanakkale Onsekiz Mart University

Ana Başlıklar:

Electrical Engineering

Dergi:

Journal of Advanced Research in Natural and Applied Sciences Vol.9 Issue 1, pp.205-217

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001284623

pISSN:

2757-5195