Robot path planning using four point-explicit group via nine-point laplacian (4EG9L) iterative method

Azali Saudi, and Jumat Sulaiman, (2012) Robot path planning using four point-explicit group via nine-point laplacian (4EG9L) iterative method. In: International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012), 4 - 6 September 2012, Kuching, Sarawak, Malaysia.

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Abstract

Path planning is an important issue as it allows a robot to get from start point to goal point. This work attempts to solve robot path planning problem iteratively using numerical technique. It is based on the use of Laplace's Equation to compute potential function in the configuration space of a mobile robot. This paper proposed a block iterative method known as Four Point-Explicit Group via Nine-Point Laplacian (4EG9L) for solving robot path planning problem. By employing a finite-difference technique, the experiment shows that it able to generate smooth path between the start and goal points. The simulation results show that 4EG9L performs faster than the previous method in generating path for mobile robot motion.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: Robot path planning; Four-Point Explicit Group via Nine-Point Laplacian (4EG9L); Laplace's equation
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: SCHOOL > School of Engineering and Information Technology
Depositing User: Unnamed user with email storage.bpmlib@ums.edu.my
Date Deposited: 17 Nov 2016 03:07
Last Modified: 12 Oct 2017 02:31
URI: http://eprints.ums.edu.my/id/eprint/14940

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