Increasing the Efficiency of Mobile Robot Navigation Using Slam with Several Advanced Algorithms and Filters

Pajaziti Arbnor; Bajrami Xhevahir; Fandaj Arjanit

doi:10.2478/scjme-2024-0011

Journal of Mechanical Engineering (May 2024)

Increasing the Efficiency of Mobile Robot Navigation Using Slam with Several Advanced Algorithms and Filters

Pajaziti Arbnor,
Bajrami Xhevahir,
Fandaj Arjanit

Affiliations

Pajaziti Arbnor: 1Faculty of Mechanical Engineering, University of Prishtina, Department of Mechatronics, Str. Kodra e Diellit, n.n., 10000Prishtina, Kosovo
Bajrami Xhevahir: 1Faculty of Mechanical Engineering, University of Prishtina, Department of Mechatronics, Str. Kodra e Diellit, n.n., 10000Prishtina, Kosovo
Fandaj Arjanit: 1Faculty of Mechanical Engineering, University of Prishtina, Department of Mechatronics, Str. Kodra e Diellit, n.n., 10000Prishtina, Kosovo

DOI: https://doi.org/10.2478/scjme-2024-0011
Journal volume & issue: Vol. 74, no. 1
pp. 103 – 114

Abstract

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Several algorithms such as A*, Dijkstra, SLAM (Simultaneous Localisation and Mapping) and APF (Artificial Potential Field) were used in this study to create local maps, plan the shortest path, and localize mobile robots. In fact, when compared to the SLAM/APF method, these algorithms achieved a reduction in road length by 1.18 meters. Nevertheless, the SLAM/APF method outperformed the Dijkstra algorithm by reducing navigation time by 7.62 seconds and surpassed the A* method by reducing navigation time by 5.76 seconds.

Published in Journal of Mechanical Engineering

ISSN: 2450-5471 (Online)
Publisher: Sciendo
Country of publisher: Poland
LCC subjects: Technology: Engineering (General). Civil engineering (General)
Website: https://sciendo.com/journal/SCJME

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