Path Planning for Robotic Delivery Systems

Abstract

In this work we consider a path planning problem for our university campus. In particular, we deploy a modified version of Dijkstra's algorithm to find the shortest path faster. By appropriately sampling points (nodes) throughout the campus, we develop a directed graph representation of our campus. Open Street Map (OSM) was used to obtain the GPS locations of these points. While this constructed graph has a large number of nodes, we use a node-abstraction method to compress the graph to ensure that the time complexity of our algorithm is sufficiently reduced. Simulation results report the computation time saved due to the abstraction method.