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Corresponding Author

Ali Alyasin

Document Type

Article

Keywords

Mobile robots, Path planning, Dijkstra algorithm, Rviz, LiDAR

Abstract

Mobile robots are developing rapidly compared for modern information technology and are used in many fields, such as medicine, industry, military services, and all public services. However, the challenges facing these technologies are significant, including positioning, environmental awareness, path planning, and motion control. Greedy algorithm, Dijkstra algorithm is used for make the path planning better process for ensure increased navigation efficiency. The algorithm uses graphs to find the shortest path between two nodes in a weighted graph by repeating the process. calculating how far things have gone. The initial process of calculating the shortest path speeds up the proposed algorithm's approach, as it travels between the starting point and each of the other nodes simultaneously, either along the same continuous path or across multiple paths until reaching the destination. Central nodes are the starting point of the algorithm, which uses data that is not affected by the paths followed. We employed Dijkstra's algorithm in an empirical study involving a service robot., where the robot successfully navigated three obstacles without colliding with them. The robot demonstrated high efficiency in identifying the shortest and quickest route, achieving an average error at a velocity of 0.26 meters per second, with an x-axis length of 0.034 meters and a y-axis length of 0.017 meters.

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