Numerical Technique for Autonomous Robot Path Planning Based on QSAOR Iterative Method Using Indoor Environment

A.A. Dahalan, and A. Saidi, and Jumat Sulaiman, (2018) Numerical Technique for Autonomous Robot Path Planning Based on QSAOR Iterative Method Using Indoor Environment. Journal of Engineering and Applied Sciences, 13 (20). pp. 8414-8418.

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Abstract

In recent years, a significant amount of research on robot path planning problems has been devoted. The main goal of this problem is to construct a collision-free path from arbitrary start location to a specified end position in their environment. In this study, numerical technique, specifically on family of Accelerated Over-Relaxation (AOR) iterative methods will be used in attempt to solve mobile robot problem iteratively. It’s lean on the use of Laplace’s equation to constrain the generation of a potential values. By applying a finite-difference technique, the experiment shows that it is able to generate smooth path between the starting positions to specified destination. The simulation results shows the proposed methods performs faster solution and smoother path compared to the previous research.

Item Type: Article
Uncontrolled Keywords: Autonomous navigation, elliptic partial differential equation, finite difference scheme, interative method, collision-free and opthimal path, Malaysia
Subjects: T Technology > T Technology (General)
T Technology > TD Environmental technology. Sanitary engineering
Divisions: FACULTY > Faculty of Science and Natural Resources
Depositing User: MDM SITI AZIZAH IDRIS
Date Deposited: 19 Feb 2020 02:21
Last Modified: 19 Feb 2020 02:21
URI: http://eprints.ums.edu.my/id/eprint/24970

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