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

SİPAHİOĞLU A., YAZICI A., PARLAKTUNA O., GÜREL U.

ROBOTICS AND AUTONOMOUS SYSTEMS, cilt.56, sa.4, ss.289-295, 2008 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 56 Sayı: 4
  • Basım Tarihi: 2008
  • Doi Numarası: 10.1016/j.robot.2007.09.011
  • Dergi Adı: ROBOTICS AND AUTONOMOUS SYSTEMS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.289-295
  • Anahtar Kelimeler: mobile robot, tour construction, TSP, savings algorithm
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

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. (c) 2007 Elsevier B.V. All rights reserved.