Three Dimensional Searching Surface Path Planning of Mobil Robots

Route planning of mobile robots has vital importance in the industrial robotic navigation applications of single / multi-floors closed area. In this study, it is proposed to apply an optimal route planning based on the graph search algorithm for orienting mobile robots in multiple floors industrial building where multiple exits are possible for each floor. For the route planning, the distance is calculated on the basis of a 3-dimensional cubic surface containing two floors, in which the starting and destination points are located. Dijkstra graph searching algorithm is preferred since it calculates the distances from starting point to all points in specified surfaces in order to create shortest route avoiding obstacles. In the study, two different scenarios including different situations are created for orienting the mobile robot. These scenarios include the situation of the destination point on the same and on the different floor with the starting point of the mobile robot. Simulation results of the shortest routes are presented in the paper using MATLAB environment