Abstrakt

Intelligent Path Planning Of Mobile Robot Agent By Using Breadth First Search Algorithm

M.Bala Subramanian, Dr.K.Sudhagar,G.RajaRajeswari

Identifying an optimal path for a mobile robot agent is considered to be one of the key challenges for researchers in the field of robotics. A mobile robot agent participating for mission critical application will explore into an unknown environment will be challenging criteria, considering its contraints such as time, cost, energy, exploration distance etc.. When the mobile robots agent decides its action, it is necessary to plan its movement more precisely and optimally. This paper presents the use of search algorithm in identifying the optimal path along with its navigation controlling mechanism of a mobile robot agent navigational systems. The mobile robot agents are modelled to work independently through its intelligence without any human intervention. This paper aims on studying the movement details of an robot agent participating in dynamically changing environment using Breadth First Search (BFS) algorithm. The systemevaluation is validated using Graphical User Interfcae (GUI) based test bed for robots called Robosim and the efficiceny of the system is measured via simulation resutls through a defined complex arena. Simulation results proven that the applyuing the BFS algorithm in a unknown envirnoment explores much faster then heuristic based other path palnning algorithms