Abstract
This paper introduces the shortest path planning for a noncircular omnidirectional mobile robot. A* and Dijkstra algorithms are evaluated for the shortest path problems in terms of efficiency and time complexity. The Dijkstra algorithm is selected due to its efficiency in the greedy searching and it is integrated to occupancy grid map with the consideration of the vehicle body constraint. Simulation via MATLAB is conducted to verify the effectiveness of the proposed system.
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Ahmed, S.A.A., Safar, M.J.A. (2018). Shortest Path Planning for Noncircular Omnidirectional Mobile Robot. In: Hassan, M. (eds) Intelligent Manufacturing & Mechatronics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8788-2_20
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DOI: https://doi.org/10.1007/978-981-10-8788-2_20
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