Route constructing for a mobile robot based on the D-star algorithm

Yevsieiev, V.; Amer Abu-Jassar; Maksymova, S.; Ahmad Alkhalaileh

Публікація:
Route constructing for a mobile robot based on the D-star algorithm

dc.contributor.author	Yevsieiev, V.
dc.contributor.author	Amer Abu-Jassar
dc.contributor.author	Maksymova, S.
dc.contributor.author	Ahmad Alkhalaileh
dc.date.accessioned	2024-05-11T22:15:30Z
dc.date.available	2024-05-11T22:15:30Z
dc.date.issued	2024
dc.description.abstract	This paper discusses the use of the D-star algorithm to construct an optimal route for a mobile robot in a space with obstacles. We present a mathematical description of the D-star algorithm operating principle, which is based on the idea of dynamic programming and step-by-step path cost updating. Based on this description, a Python program was developed that is capable of building a route for the robot, taking into account the situation around it. To test the efficiency and accuracy of the algorithm, a number of experiments were carried out on various test maps with different obstacle configurations. The results showed that the D-star algorithm demonstrates high efficiency and reliability in constructing the optimal route for a mobile robot under various conditions.
dc.identifier.citation	Route constructing for a mobile robot based on the D-star algorithm / V. Yevsieiev, Amer Abu-Jassar, S. Maksymova, Ahmad Alkhalaileh // Technical Science Research in Uzbekistan. – 2024. – Vol. 2(4). – P. 55-66.
dc.identifier.issn	2992-9148
dc.identifier.uri	https://openarchive.nure.ua/handle/document/26248
dc.language.iso	en
dc.publisher	Technical science research in Uzbekistan
dc.subject	Industry 5.0
dc.subject	Mobile Robots
dc.subject	D-star algorithm
dc.title	Route constructing for a mobile robot based on the D-star algorithm
dc.type	Article
dspace.entity.type	Publication