Optimized Graph Search Algorithms for Exploration with Mobile Robot

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dc.authorwosidKuscu, Hilmi/S-4903-2017
dc.contributor.authorGullu, Aydin
dc.contributor.authorKuscu, Hilmi
dc.date.accessioned2024-06-12T11:09:38Z
dc.date.available2024-06-12T11:09:38Z
dc.date.issued2021
dc.departmentTrakya Üniversitesien_US
dc.description.abstractGraph search algorithms and shortest path algorithms, designed to allow real mobile robots to search unknown environments, are typically run in a hybrid manner, which results in the fast exploration of an entire environment using the shortest path. In this study, a mobile robot explored an unknown environment using separate depth-first search (DFS) and breadth-first search (BFS) algorithms. Afterward, developed DFS + Dijkstra and BFS + Dijkstra algorithms were run for the same environment. It was observed that the newly developed hybrid algorithm performed the identification using less distance. In experimental studies with real robots, progression with DFS for the first-time discovery of an unknown environment is very efficient for detecting boundaries. After finding the last point with DFS, the shortest route was found with Dijkstra for the robot to reach the previous node. In defining a robot that works in a real environment using DFS algorithm for movement in unknown environments and Dijkstra algorithm in returning, time and path are shortened. The same situation was tested with BFS and the results were examined. However, DFS + Dijkstra was found to be the best algorithm in field scanning with real robots. With the hybrid algorithm developed, it is possible to scan the area with real autonomous robots in a shorter time. In this study, field scanning was optimized using hybrid algorithms known.en_US
dc.identifier.doi10.24003/emitter.v9i2.614
dc.identifier.endpage238en_US
dc.identifier.issn2355-391X
dc.identifier.issn2443-1168
dc.identifier.issue2en_US
dc.identifier.startpage222en_US
dc.identifier.urihttps://doi.org/10.24003/emitter.v9i2.614
dc.identifier.urihttps://hdl.handle.net/20.500.14551/22888
dc.identifier.volume9en_US
dc.identifier.wosWOS:000740681100001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherPoliteknik Elektronika Negeri Surabayaen_US
dc.relation.ispartofEmitter-International Journal Of Engineering Technologyen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectOptimized Graph Searchen_US
dc.subjectReal Environment Explorationen_US
dc.subjectDijkstraen_US
dc.subjectMobile Roboten_US
dc.titleOptimized Graph Search Algorithms for Exploration with Mobile Roboten_US
dc.typeArticleen_US

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