Evaluation of Search Strategy for Autonomous Rescue Mobile Robot

In this study, six different search algorithm have been examined for use in decision-making of autonomous rescue robot. These algorithms are Left Wall Follow, Right Wall Follow, Breadth First Search, Depth First Search, A* and Greedy Best Search. Real-time data is collected by mobile robot for three different environments with these algorithms. Electronic circuits have been developed for the communication of the computer with the mobile robot. Also, the interface is designed for communication in the computer environment. The data collected includes; reach the target, the distance to reach the target, and the number of nodes traversed. Analysis conducted with real mobile robot, wall follow algorithm was found to be successful in unidirectional environments without switching between each other. However, in complex environments it was found to be unsuccessful. All other algorithms have been successfully reach the goal. However different distances traveled to reach the goal. This study was performed with a single mobile robot, heuristic greedy best search algorithm search and depth first search algorithm yielded successful results for different environments.