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Indoor global path planning based on critical cells using dijkstra algorithm

Path planning has been implemented in various robotics systems, and the results checked. This paper proposes global path planning based on grids representation in an indoor environment using Dijkstra algorithm. The algorithm uses floor plan of any environment discretized to some equal-sized square g...

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Main Authors: Azrul Amri, Jamal, Engku Fadzli Hasan, Syed Abdullah, Fatma Susilawati, Mohamad
Format: Article
Language:English
Published: Asian Research Publishing Network 2015
Subjects:
QA75 Electronic computers. Computer science
Online Access:http://eprints.unisza.edu.my/6651/1/FH02-FIK-15-03800.jpg
http://eprints.unisza.edu.my/6651/
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spelling my-unisza-ir.66512022-09-13T05:09:02Z http://eprints.unisza.edu.my/6651/ Indoor global path planning based on critical cells using dijkstra algorithm Azrul Amri, Jamal Engku Fadzli Hasan, Syed Abdullah Fatma Susilawati, Mohamad QA75 Electronic computers. Computer science Path planning has been implemented in various robotics systems, and the results checked. This paper proposes global path planning based on grids representation in an indoor environment using Dijkstra algorithm. The algorithm uses floor plan of any environment discretized to some equal-sized square grids. Cells that contained doorways, corner, curve and junction are considered as critical cells. These critical cells are used as the vertices to the Dijkstra algorithm, with distances between two successive cells as edges between them, and the shortest path between a set of predefined points within the terrain can then be calculated. Simulations results show that the proposed algorithm enhances performance and speed compared to the traditional Dijkstra’s algorithm. Asian Research Publishing Network 2015-09 Article PeerReviewed image en http://eprints.unisza.edu.my/6651/1/FH02-FIK-15-03800.jpg Azrul Amri, Jamal and Engku Fadzli Hasan, Syed Abdullah and Fatma Susilawati, Mohamad (2015) Indoor global path planning based on critical cells using dijkstra algorithm. Journal of Theoretical and Applied Information Technology, 79 (1). pp. 115-121. ISSN 19928645 [P]
institution Universiti Sultan Zainal Abidin
building UNISZA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Sultan Zainal Abidin
content_source UNISZA Institutional Repository
url_provider https://eprints.unisza.edu.my/
language English
topic QA75 Electronic computers. Computer science
spellingShingle QA75 Electronic computers. Computer science
Azrul Amri, Jamal
Engku Fadzli Hasan, Syed Abdullah
Fatma Susilawati, Mohamad
Indoor global path planning based on critical cells using dijkstra algorithm
description Path planning has been implemented in various robotics systems, and the results checked. This paper proposes global path planning based on grids representation in an indoor environment using Dijkstra algorithm. The algorithm uses floor plan of any environment discretized to some equal-sized square grids. Cells that contained doorways, corner, curve and junction are considered as critical cells. These critical cells are used as the vertices to the Dijkstra algorithm, with distances between two successive cells as edges between them, and the shortest path between a set of predefined points within the terrain can then be calculated. Simulations results show that the proposed algorithm enhances performance and speed compared to the traditional Dijkstra’s algorithm.
format Article
author Azrul Amri, Jamal
Engku Fadzli Hasan, Syed Abdullah
Fatma Susilawati, Mohamad
author_facet Azrul Amri, Jamal
Engku Fadzli Hasan, Syed Abdullah
Fatma Susilawati, Mohamad
author_sort Azrul Amri, Jamal
title Indoor global path planning based on critical cells using dijkstra algorithm
title_short Indoor global path planning based on critical cells using dijkstra algorithm
title_full Indoor global path planning based on critical cells using dijkstra algorithm
title_fullStr Indoor global path planning based on critical cells using dijkstra algorithm
title_full_unstemmed Indoor global path planning based on critical cells using dijkstra algorithm
title_sort indoor global path planning based on critical cells using dijkstra algorithm
publisher Asian Research Publishing Network
publishDate 2015
url http://eprints.unisza.edu.my/6651/1/FH02-FIK-15-03800.jpg
http://eprints.unisza.edu.my/6651/
_version_ 1744358561398390784
score 13.211869

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