Application of graph algorithms for optimal path planning of mobile robots

The objective of the research described in this article was to develop a model for planning the optimal traversal route for a wheeled mobile robot based on a Digital Terrain Model (DTM), utilizing graph algorithms.A methodology was developed to transform the DTM into a graph representation, enabling the efficient application of graph algorithms for route determination.Three algorithms were implemented in Python: Prim's algorithm, Dijkstra's algorithm, and the A* algorithm.These algorithms were applied to graph-based terrain analysis, comparing their performance in terms of route feasibility, path length, and computation time.Notably, the A* algorithm yielded the most promising computational efficiency results in the conducted tests.KEYWORDS: mobile