Academic Journals Database
Disseminating quality controlled scientific knowledge

Complete Graph Technique Based Optimization In Meadow Method Of Robotic Path Planning

ADD TO MY LIST
 
Author(s): S. Singh, | G. Agarwal

Journal: International Journal of Engineering Science and Technology
ISSN 0975-5462

Volume: 2;
Issue: 9;
Start page: 4951;
Date: 2010;
VIEW PDF   PDF DOWNLOAD PDF   Download PDF Original page

Keywords: Complete Graph Method | Meadow Method Optimization | Dijkastra’s Optimized Path.

ABSTRACT
This paper explores new dimension in optimal path planning, Here we are proposing a new algorithm ‘OPTIMIZED PATH PLANING ALGORITHM’, which optimizes the path between single source to single destination. The proposed algorithm optimizes the path found by Dijkstra’s algorithm, it is proven in this paper that the new path is better than the path found by Dijkstra’s algorithm. The simulator is developed in C- language, on the basis of which, comparison table has been constructed which shows better performance of the proposed algorithm. First step is Object Growing in which the object is grown to its configuration space and produces the actual space for robot navigation. Next step is possible complete graph generation, in which a graph is drawn connecting all the obstacles, this is a complete graph and better than those of convex polygon graph in Meadow Maps technique as it has more edges producing more information. Mid point network generation, connects the midpoints of all these edges and creates the path for robot movement. Then we find a path using Dijkstra’s algorithm [8], the best in single source and single destination problems. We applied our algorithm “Optimized Algorithm” and hence creating a more optimized path, which is approximate to ideal path, consist of less turns and hence saves energy.
Why do you need a reservation system?      Save time & money - Smart Internet Solutions