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# Application of Dijkstra Algorithm in Robot path planning

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Shortest path algorithm
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# Application of Dijkstra Algorithm in Robot path planning

Application of Dijkstra Algorithm in Robot path planning

Application of Dijkstra Algorithm in Robot path planning

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### Application of Dijkstra Algorithm in Robot path planning

1. 1. Application of Dijkstra algorithm in Robot path-planning (Huijuan Wang, Yuan Yu, Yuan Q) Presented by D. Darling Jemima.
2. 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. 3. Robot map
4. 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. 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. 6. Example
7. 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. 8. Dijkstra’s Algorithm to find the shortest path
9. 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. 10. Thank you