APPLICATION OF GRAPH THEORY ALGORITHMS IN MODELING 2D SCANNER FOR OBSTACLE AVOIDANCE
Оксана Андреевна Татаринова · Bulletin of the National Technical University «KhPI» Series New solutions in modern technologies · 2023
The research addresses the development and application of the RPLIDAR A1 laser distance sensor model for the task of obstacle avoidance within the functioning of a virtual robot, with a focus on the use of graph theory algorithms. The influence of Dijkstra's and A* algorithms on the efficiency of the obstacle avoidance process using a 2D scanner is thoroughly analyzed. The significance of these algorithms in the context of graph theory is emphasized due to their ability to optimize navigation trajectories in environments characterized by the presence of multiple obstacles. Particular attention is paid to the importance of these algorithms in the field of autonomous navigation, especially in their application in sectors such as unmanned aerial vehicles, agriculture, geodetic research, and search and rescue operations. A description is provided of the developed software tool with an integrated graphical component and user interface, which allows for control over the scanning and navigation process. A detailed description of the working principles and measurement models used in 2D sensors contributes to a deeper understanding of the functional capabilities and potential of the RPLIDAR A1. The research confirms that the inclusion of Dijkstra's and A* algorithms in the obstacle avoidance system significantly improves the efficiency and safety of mobile robots' operations. Testing of the developed model revealed a significant advantage of integrating these algorithms compared to traditional approaches, opening new perspectives for the development of advanced autonomous navigation systems. The importance of applying graph theory algorithms in the development of robotic systems is highlighted through their impact on improving the quality of detection and obstacle avoidance, thereby enhancing the efficiency of autonomous navigation systems in the fields of robotics and automated transport.