A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots
Yıl: 2023 Cilt: 9 Sayı: 1 Sayfa Aralığı: 205 - 217 Metin Dili: İngilizce DOI: 10.28979/jarnas.1119957 İndeks Tarihi: 24-05-2023
A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots
Öz: Abstract − 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 AMR's own navigation plan. Two different path planning algorithms, which are Dijkstra’s algorithm and a modified version of Dijkstra’s 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. Dijkstra’s 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 Dijkstra’s algorithm comparatively yielded a bit more satisfactory results in the aspect of path planning.
Anahtar Kelime: Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
- Arkin, R. C., & Murphy, R. R. (1990). Autonomous navigation in a manufacturing environment. IEEE Transactions on Robotics and Automation, 6(4), 445–454. https://doi.org/10.1109/70.59355
- Ben-Ari Mordechaiand Mondada, F. (2018). Robots and Their Applications . In Elements of Robotics (pp. 1– 20). Springer International Publishing. https://doi.org/10.1007/978-3-319-62533-1_1
- Carlucho, I., De Paula, M., & Acosta, G. G. (2019). Double Q-PID algorithm for mobile robot control. Expert Systems with Applications, 137, 292–307. https://doi.org/https://doi.org/10.1016/j.eswa.2019.06.066
- Dijkstra’s algorithm. (2021). https://en.wikipedia.org/wiki/Dijkstra%27s_algorithm
- Durrant-Whyte, H., & Bailey, T. (2006). Simultaneous localization and mapping: part I. IEEE Robotics Automation Magazine, 13(2), 99–110. https://doi.org/10.1109/MRA.2006.1638022
- Fadzli, S. A., Abdulkadir, S. I., Makhtar, M., & Jamal, A. A. (2015). Robotic Indoor Path Planning Using Dijkstra’s Algorithm with Multi-Layer Dictionaries. 2015 2nd International Conference on Information Science and Security (ICISS), 1–4. https://doi.org/10.1109/ICISSEC.2015.7371031
- Guo, C. (2013). A Solution to Best Itinerary Problem Based on Strategy Set under Dijkstra Algorithm. Applied Mechanics and Materials, 333–335, 1442–1445. https://doi.org/10.4028/www.scientific.net/AMM.333- 335.1442
- Hartomo, K., Ismanto, B., Nugraha, A., Yulianto, S., & Laksono, B. (2019). Searching the shortest route to distribute disaster’s logistical assistance using Dijkstra method. Journal of Physics: Conference Series, 1402(7), 77014. https://doi.org/10.1088/1742-6596/1402/7/077014 http://wiki.ros.org/tf. (2021).
- Iscan, H., & Tuncel, E. (2022). TurtleBot 3 İle Ros Tabanlı Yol Planlama Uygulaması. European Journal of Science and Technology. https://doi.org/10.31590/ejosat.1081097
- Köseoğlu, M., Çelik, O. M., & Pektaş, Ö. (2017). Design of an autonomous mobile robot based on ROS. 2017 International Artificial Intelligence and Data Processing Symposium (IDAP), 1–5. https://doi.org/10.1109/IDAP.2017.8090199
- Kumar, A., & Gao, N. (2021). Optimization of Distributıon Route Using Dijkstra’s Based Greedy Algorithm : Case of Retaıl Chain. 6(8), 186–190.
- Macenski, S., Martin, F., White, R., & Clavero, J. G. (2020). The Marathon 2: A Navigation System. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2718–2725. https://doi.org/10.1109/IROS45743.2020.9341207
- Merzlyakov, A., & Macenski, S. (2021). A Comparison of Modern General-Purpose Visual SLAM Approaches. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Nguyen, T. Van, Do, M. H., & Jo, J. (2022). MoDeT: a low-cost obstacle tracker for self-driving mobile robot navigation using 2D-laser scan. Industrial Robot, ahead-of-p(ahead-of-print). https://doi.org/10.1108/IR- 12-2021-0289/FULL/PDF
- Ochiai, Y., Takemura, K., Ikeda, A., Takamatsu, J., & Ogasawara, T. (2014). Remote control system for multiple mobile robots using touch panel interface and autonomous mobility. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3272–3277. https://doi.org/10.1109/IROS.2014.6943017
- Pagani, P., Colling, D., & Furmans, K. (2018). A Neural Network-Based Algorithm with Genetic Training for a Combined Job and Energy Management for AGVs. Logistics Journal : Proceedings, 2018(01). https://doi.org/10.2195/lj_Proc_pagani_en_201811_01
- Panigrahi, P. K., & Bisoy, S. K. (2021). Localization strategies for autonomous mobile robots: A review. Journal of King Saud University - Computer and Information Sciences. https://doi.org/https://doi.org/10.1016/j.jksuci.2021.02.015
- Siegwart, R., Nourbakhsh, I. R., & Scaramuzza, D. (2011). Introduction to Autonomous Mobile Robots (Second Edi, Vol. 5). The MIT Press.
- Tang SH, K. F., & Zulkifli N, K. W. (2015). A Review on Motion Planning and Obstacle Avoidance Approaches in Dynamic Environments. Advances in Robotics & Automation, 04(02). https://doi.org/10.4172/2168-9695.1000134
- Tsai, C.-C. (1998). A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements. IEEE Transactions on Instrumentation and Measurement, 47(5), 1399–1404. https://doi.org/10.1109/19.746618
- Wolf, D. F., & Sukhatme, G. S. (2005). Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments. Autonomous Robots, 19(1), 53–65. https://doi.org/10.1007/s10514-005-0606-4
- Zaman, S., Slany, W., & Steinbauer, G. (2011). ROS-based mapping, localization and autonomous navigation using a Pioneer 3-DX robot and their relevant issues. 2011 Saudi International Electronics, Communications and Photonics Conference (SIECPC), 1–5. https://doi.org/10.1109/SIECPC.2011.5876943
| APA | ÇELİK O, Köseoğlu M (2023). A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. , 205 - 217. 10.28979/jarnas.1119957 |
| Chicago | ÇELİK Orkan Murat,Köseoğlu Murat A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. (2023): 205 - 217. 10.28979/jarnas.1119957 |
| MLA | ÇELİK Orkan Murat,Köseoğlu Murat A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. , 2023, ss.205 - 217. 10.28979/jarnas.1119957 |
| AMA | ÇELİK O,Köseoğlu M A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. . 2023; 205 - 217. 10.28979/jarnas.1119957 |
| Vancouver | ÇELİK O,Köseoğlu M A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. . 2023; 205 - 217. 10.28979/jarnas.1119957 |
| IEEE | ÇELİK O,Köseoğlu M "A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots." , ss.205 - 217, 2023. 10.28979/jarnas.1119957 |
| ISNAD | ÇELİK, Orkan Murat - Köseoğlu, Murat. "A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots". (2023), 205-217. https://doi.org/10.28979/jarnas.1119957 |
| APA | ÇELİK O, Köseoğlu M (2023). A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. Journal of advanced research in natural and applied sciences (Online), 9(1), 205 - 217. 10.28979/jarnas.1119957 |
| Chicago | ÇELİK Orkan Murat,Köseoğlu Murat A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. Journal of advanced research in natural and applied sciences (Online) 9, no.1 (2023): 205 - 217. 10.28979/jarnas.1119957 |
| MLA | ÇELİK Orkan Murat,Köseoğlu Murat A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. Journal of advanced research in natural and applied sciences (Online), vol.9, no.1, 2023, ss.205 - 217. 10.28979/jarnas.1119957 |
| AMA | ÇELİK O,Köseoğlu M A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. Journal of advanced research in natural and applied sciences (Online). 2023; 9(1): 205 - 217. 10.28979/jarnas.1119957 |
| Vancouver | ÇELİK O,Köseoğlu M A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots. Journal of advanced research in natural and applied sciences (Online). 2023; 9(1): 205 - 217. 10.28979/jarnas.1119957 |
| IEEE | ÇELİK O,Köseoğlu M "A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots." Journal of advanced research in natural and applied sciences (Online), 9, ss.205 - 217, 2023. 10.28979/jarnas.1119957 |
| ISNAD | ÇELİK, Orkan Murat - Köseoğlu, Murat. "A Modified Dijkstra Algorithm for ROS Based Autonomous Mobile Robots". Journal of advanced research in natural and applied sciences (Online) 9/1 (2023), 205-217. https://doi.org/10.28979/jarnas.1119957 |
