Indoor path-planning for a tracked mobile robot using Dijkstra's algorithm and Ros

Abstract

A lot of research has recently been performed on mobile robots because of their value in human life. In various applications and areas, robotics are used. Maintaining the robot's protection and accessibility is important. If the robot doesn't always enable self-recovery, it will not be able to attain its target. This paper studies a tracked mobile robot control and path planning using the Dijkstra's algorithm. Robot Operating System (ROS) is the software prototyping platform. The robot's basic mission and its control mechanism is explained. The analysis is carried out using three ultrasonic sensors requiring a low-effort framework enabling exploration in the robot route zone. In a simulated environment, the presented method was verified and the results showed successful path planning with obstacles avoidance.