Publication

Abstract : Efficient navigation in obstructed environments poses a significant challenge for autonomous robots, particularly in industrial settings where safe and effective movement through complex surroundings is essential. This paper presents the comprehensive bidirectional path planning framework that leverages Dijkstra's algorithm and probabilistic roadmaps (PRM) to address the navigation challenges in obstacle-rich environments. PRM is employed to map complex environments by generating and connecting valid nodes, while Dijkstra's algorithm is utilized to determine the shortest path within the roadmap. The proposed method aims to enhance navigation efficiency and safety. Extensive simulation results across diverse case studies validate the efficacy and robustness of the proposed method, offering improved clarity and performance in practical applications.