1.
Application of Dijkstra algorithm
in Robot path-planning
(Huijuan Wang, Yuan Yu, Yuan Q)
Presented by
D. Darling Jemima.

2.
Introduction
• Path planning is a collision free path that the
mobile robot could reach the goal state from
the initial state.
• The robot’s working space is two-dimensional
structure of space.
• The robot is simplified as a point and the
obstacle as straight line.

3.
Robot map

4.
Determining the current obstacles
• The intersection method is used to
find the obstacles.
• Draw a line l from source O to the
goal G.
• Determine whether there are
intersections between the line l and
the obstacles.
• If so, identify the obstacles that
intersected with l first, connect the
two endpoints as two vertices.
• If l has no intersection with the
obstacles, the robot will draw a
straight line from the target point.

5.
Contd..,
algorithm Dijkstra(Graph, source):
dist[source] := 0 // Distance from source to source
for each vertex v in Graph: // Initializations
if v ≠ source
dist[v] := infinity // Unknown distance function from source to v
previous[v] := undefined // Previous node in optimal path from source
end if
add v to Q // All nodes initially in Q (unvisited nodes)
end for
while Q is not empty: // The main loop
u := vertex in Q with min dist[u] // Source node in first case
remove u from Q
for each neighbor v of u: // where v has not yet been removed from Q.
alt := dist[u] + length(u, v)
if alt < dist[v]: // A shorter path to v has been found
dist[v] := alt
previous[v] := u end if
end for
end while
return dist[], previous[]
end algorithm Dijkstra

6.
Example

7.
Conclusion
•O is the Starting point and G is
the Ending point.(using Dijkstra’s
Algorithm)
•The coarse straight lines are
obstacles, and the fine lines is
obtained path with the
simulation of the final path.
•Thus Dijkstra algorithm is used
to find the shortest path in the
robot path planning .

8.
Dijkstra’s Algorithm to find
the shortest path

9.
References
• Application of Dijkstra’s algorithm in robot
path-planning published in IEEE conference on
Mechanical Automation and Control
Engineering.
• Introduction to robotics Jiang Xinsong.
• Artificial Intelligence Elaine Rich, Kevin Knight.

10.
Thank you