Optimized Graph Search Algorithms for Exploration with Mobile Robot
Graph search algorithms and shortest path algorithms, designed to allow real mobile robots to search unknown environments, are typically run in a hybrid manner, which results in the fast exploration of an entire environment using the shortest path. In this study, a mobile robot explored an unknown e...
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| Format: | Article |
| Language: | English |
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Politeknik Elektronika Negeri Surabaya
2021-12-01
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| Series: | Emitter: International Journal of Engineering Technology |
| Subjects: | |
| Online Access: | https://emitter.pens.ac.id/index.php/emitter/article/view/614 |
| _version_ | 1818946278358253568 |
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| author | Aydın GULLU Hilmi KUŞÇU |
| author_facet | Aydın GULLU Hilmi KUŞÇU |
| author_sort | Aydın GULLU |
| collection | DOAJ |
| description | Graph search algorithms and shortest path algorithms, designed to allow real mobile robots to search unknown environments, are typically run in a hybrid manner, which results in the fast exploration of an entire environment using the shortest path. In this study, a mobile robot explored an unknown environment using separate depth-first search (DFS) and breadth-first search (BFS) algorithms. Afterward, developed DFS + Dijkstra and BFS + Dijkstra algorithms were run for the same environment. It was observed that the newly developed hybrid algorithm performed the identification using less distance. In experimental studies with real robots, progression with DFS for the first-time discovery of an unknown environment is very efficient for detecting boundaries. After finding the last point with DFS, the shortest route was found with Dijkstra for the robot to reach the previous node. In defining a robot that works in a real environment using DFS algorithm for movement in unknown environments and Dijkstra algorithm in returning, time and path are shortened. The same situation was tested with BFS and the results were examined. However, DFS + Dijkstra was found to be the best algorithm in field scanning with real robots. With the hybrid algorithm developed, it is possible to scan the area with real autonomous robots in a shorter time. In this study, field scanning was optimized using hybrid algorithms known. |
| first_indexed | 2024-12-20T08:12:28Z |
| format | Article |
| id | doaj.art-34962e5654d04010b158d52658a36136 |
| institution | Directory Open Access Journal |
| issn | 2355-391X 2443-1168 |
| language | English |
| last_indexed | 2024-12-20T08:12:28Z |
| publishDate | 2021-12-01 |
| publisher | Politeknik Elektronika Negeri Surabaya |
| record_format | Article |
| series | Emitter: International Journal of Engineering Technology |
| spelling | doaj.art-34962e5654d04010b158d52658a361362022-12-21T19:47:13ZengPoliteknik Elektronika Negeri SurabayaEmitter: International Journal of Engineering Technology2355-391X2443-11682021-12-019210.24003/emitter.v9i2.614Optimized Graph Search Algorithms for Exploration with Mobile RobotAydın GULLU0Hilmi KUŞÇU1Electronics and Automation Department, Ipsala Vocational School, Trakya University, Edirne, TurkeyDepartment of Mechanical Engineering, Faculty of Engineering, Trakya University, Edirne, TurkeyGraph search algorithms and shortest path algorithms, designed to allow real mobile robots to search unknown environments, are typically run in a hybrid manner, which results in the fast exploration of an entire environment using the shortest path. In this study, a mobile robot explored an unknown environment using separate depth-first search (DFS) and breadth-first search (BFS) algorithms. Afterward, developed DFS + Dijkstra and BFS + Dijkstra algorithms were run for the same environment. It was observed that the newly developed hybrid algorithm performed the identification using less distance. In experimental studies with real robots, progression with DFS for the first-time discovery of an unknown environment is very efficient for detecting boundaries. After finding the last point with DFS, the shortest route was found with Dijkstra for the robot to reach the previous node. In defining a robot that works in a real environment using DFS algorithm for movement in unknown environments and Dijkstra algorithm in returning, time and path are shortened. The same situation was tested with BFS and the results were examined. However, DFS + Dijkstra was found to be the best algorithm in field scanning with real robots. With the hybrid algorithm developed, it is possible to scan the area with real autonomous robots in a shorter time. In this study, field scanning was optimized using hybrid algorithms known.https://emitter.pens.ac.id/index.php/emitter/article/view/614Optimized graph searchReal environment explorationDijkstraMobile Robot |
| spellingShingle | Aydın GULLU Hilmi KUŞÇU Optimized Graph Search Algorithms for Exploration with Mobile Robot Emitter: International Journal of Engineering Technology Optimized graph search Real environment exploration Dijkstra Mobile Robot |
| title | Optimized Graph Search Algorithms for Exploration with Mobile Robot |
| title_full | Optimized Graph Search Algorithms for Exploration with Mobile Robot |
| title_fullStr | Optimized Graph Search Algorithms for Exploration with Mobile Robot |
| title_full_unstemmed | Optimized Graph Search Algorithms for Exploration with Mobile Robot |
| title_short | Optimized Graph Search Algorithms for Exploration with Mobile Robot |
| title_sort | optimized graph search algorithms for exploration with mobile robot |
| topic | Optimized graph search Real environment exploration Dijkstra Mobile Robot |
| url | https://emitter.pens.ac.id/index.php/emitter/article/view/614 |
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