Laplacian behaviour-based Control (LBBC) for Robot Path Planning using Explicit Group Successive Over-Relaxation via Nine-Point Laplacian (EGSOR9L) Iterative Method

Azali Saudi, and Jumat Sulaiman, (2012) Laplacian behaviour-based Control (LBBC) for Robot Path Planning using Explicit Group Successive Over-Relaxation via Nine-Point Laplacian (EGSOR9L) Iterative Method. International Journal of Computer and Information Technology, 1 (2). ISSN 2279-0764

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Abstract

This paper proposed a behaviour-based paradigm approach known as Laplacian Behaviour-Based Control (LBBC) for solving path planning problem for a mobile robot operating in a structured indoor environment. LBBC relies on the use of Laplace’s Equation to model the potential function in th eenvironment model. For solving the Laplace’s Equation, a numerical technique using a weighted block technique based on a block of four points known as Four Point-EGSOR (4EGSOR) iterative method is used to provide guidance in generating path for the robot. The simulation results show that LBBC provides robust motion for the robot, whilst 4EGSOR ensure faster computation than the previous methods.

Item Type: Article
Uncontrolled Keywords: Mobile robot path planning, Behaviour-Based paradigm, Laplace’s equation, Explicit Group, Four Point-EGSOR iterative method, harmonic functions
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: FACULTY > Faculty of Science and Natural Resources
Depositing User: Noraini
Date Deposited: 07 Aug 2018 07:13
Last Modified: 07 Aug 2018 07:13
URI: http://eprints.ums.edu.my/id/eprint/20663

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