Offline path planning of mobile robot by using Dijkstra`s algorithm which considering sensor measurable range
Michito SEKI, Yasushi HADA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
In this paper, we describe the method that calculates the range measurable by sensors from the map of the environment where the mobile robot travels and uses it for offline route planning. In addition, we describe the calculation method of the range measurable with the sensor from the map of concrete environment, and show what kind of result will be obtained when actually calculating with the map. It is done using the Dijkstra`s algorithm as offline route planning method. The method of calculating the cost and the specific procedure are described. The results of offline route planning using the calculation results in the above range are shown in the figure.