Real-time tour construction for a mobile robot in a dynamic environment

Authors:
Aydin Sipahioglu;Ahmet Yazici;Osman Parlaktuna;Ugur Gurel
Affiliations:
Industrial Engineering Department, Osmangazi University, Bademlik, Eskisehir, Turkey;Electrical Engineering Department, Osmangazi University, Meselik, Eskisehir, Turkey;Electrical Engineering Department, Osmangazi University, Meselik, Eskisehir, Turkey;Computer Engineering Department, Osmangazi University, Meselik, Eskisehir, Turkey
Venue:
Robotics and Autonomous Systems
Year:
2008

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Abstract

Mobile robots are increasingly used in many areas. An optimum trajectory increases the effectiveness of a mobile robot. However, the environment may change dynamically which may require a real-time tour construction for the mobile robot. In this study, a heuristic-based TSP approach is applied to real-time dynamic tour construction problem for a mobile robot. Savings algorithm together with Dijsktra's algorithm is used to determine a feasible tour for the mobile robot. The proposed method is applicable when the network is complete or sparse, directed or undirected. Experiments are conducted to show the effectiveness of the proposed algorithm.