Real-time tour construction for a mobile robot in a dynamic environment

Autor:	Aydin Sipahioglu, Osman Parlaktuna, Ahmet Yazici, Ugur Gurel
Rok vydání:	2008
Předmět:	Control and Systems Engineering Computer science Heuristic (computer science) General Mathematics Trajectory Mobile robot Software Simulation Mobile robot navigation Computer Science Applications
Zdroj:	Robotics and Autonomous Systems. 56:289-295
ISSN:	0921-8890
DOI:	10.1016/j.robot.2007.09.011
Popis:	Mobile robots are increasingly used in many areas. An optimum trajectory increases the effectiveness of a mobile robot. However, the environment may change dynamically which may require a real-time tour construction for the mobile robot. In this study, a heuristic-based TSP approach is applied to real-time dynamic tour construction problem for a mobile robot. Savings algorithm together with Dijsktra's algorithm is used to determine a feasible tour for the mobile robot. The proposed method is applicable when the network is complete or sparse, directed or undirected. Experiments are conducted to show the effectiveness of the proposed algorithm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::c2eb832a00a8d676f2e5050e94fd5ff6 https://doi.org/10.1016/j.robot.2007.09.011 Zobrazit plný text záznamu Full Text from ScienceDirect