Yevsieiev, V.Amer Abu-JassarMaksymova, S.Ahmad Alkhalaileh2024-05-112024-05-112024Route 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. 55-66.2992-9148https://openarchive.nure.ua/handle/document/26248This 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.enIndustry 5.0Mobile RobotsD-star algorithmArticle