Indoor Path Planning for Mobile Robot using Half-Sweep Gauss-Seidel via Nine-Point Laplacian (HSGS9L).

Azali Saudi, and Jumat Sulaiman, (2012) Indoor Path Planning for Mobile Robot using Half-Sweep Gauss-Seidel via Nine-Point Laplacian (HSGS9L). International Journal of Engineering Research & Technology (IJERT), 1 (7). pp. 17-29. ISSN 2278-0181

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Abstract

This paper proposed a numerical computation for solving path planning problem for a mobile robot operating in indoor environment grid model. It is based on the use of Laplace’s Equation to constraint the distribution of potential values in the configuration space of a mobile robot. Consequently, the solution of Laplace’s Equation is computed by employing Half-Sweep Gauss-Seidel via Nine-Point Laplacian (HSGS9L) iterative method. The simulation results show that this half-sweep iteration performs much faster than the previous methods in generating smooth path for mobile robot to move from start to goal position.

Item Type: Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: SCHOOL > School of Engineering and Information Technology
Depositing User: MR OTHMAN HJ RAWI
Date Deposited: 23 Apr 2019 23:20
Last Modified: 23 Apr 2019 23:20
URI: http://eprints.ums.edu.my/id/eprint/21805

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