Subject: Dijkstra’s Algorithm, robotics, robot motion planning, parallel processing

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Year: 2022

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Type: Proceeding article

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Title: Parallelization of Dijkstra’s Algorithm for Robot Motion Planning: Is It Worth Increasing Speed Without Losing Accuracy?

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Author: Josifoski, Darko
Author: Gushev, Marjan
Author: Zdraveski, Vladimir
Author: Ristov, Sashko

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Abstract: This paper examines the problem of parallelizing Dijkstra’s algorithm, as an algorithm for robot motion planning was a challenge to twist the algorithm in such a way so it can be executed in parallel, rather than sequentially. In this paper, we test the validity of a research hypothesis that the speed of Dijkstra’s algorithm can be increased by parallelizing and keeping the same accuracy. The developed use-case of Dijkstra’s algorithm as a robot motion planning algorithm was tested against performance, both in execution speed and accuracy. Finally, we elaborate on the benefits of this parallelizing approach.

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Publisher: IEEE

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Relation: 2022 30th Telecommunications Forum (TELFOR)

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Identifier: oai:repository.ukim.mk:20.500.12188/27646
Identifier: http://hdl.handle.net/20.500.12188/27646

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