Presentation of algorithm for a full proximate flat surface optimum padding included obstacles with use routing algorithms

Document Type: Original Article


1 Hong street, alley 23,No 14

2 department of computer, sepidan Branch, Islamic Azad University, sepidan, Iran


This article proposes a new planning navigation strategy for use with mobile terrestrial robots. The proposed algorithm is applicable in any point of the areas for tasks such as cleaning the floors of building, mowing and clearing mined areas. The strategy of this algorithm is analyzed and checked in conditions where the environment and the obstacles are known. There are various routing algorithms such as A*, Genetic, Dijkstra, antcolony and etc, but any of the main algorithms is not singly the optimum one and all of them have some disadvantages. The proposed algorithm reduces the number of required repetitions to passing the routes by a combination of good characteristics of the main algorithms; after each movement event, the robot passing through all eight directions of source node according to specified fitness function, traverses the intended area at each repetition that the cost of each node is the distance of that node from the source. In this article, some problems presented and finally, the proposed algorithm in comparison with the algorithm of Roomba made by iRobot Corporation, has been checked by the observation and test method and their response has been obtained. In the path of achieving to the response by using the presented algorithm, some pseudo-codes have been designed in the C# environment.