Red-Black strategy for mobile robot path planning

Azali Saudi, and Jumat Sulaiman, (2010) Red-Black strategy for mobile robot path planning. In: International MultiConference of Engineers and Computer Scientists 2010, IMECS 2010, 17-19 March 2010, Kowloon, Hong Kong.

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Abstract

Mobile robots often find themselves in a situation where they must find a collision-free path from start to goal point in their environment, subject to constraints posed by environment boundaries and obstacles. In this work, we conduct and experiment for mobile robot path planning based on potential field method that relies on the use of Laplace's Equation to constrain the generation of a potential function over regions of the configuration space of a mobile point-robot. An experiment based on finite-difference techniques shows a local minima-free motion with smooth path between the start and goal points. This work introduces the first application of a numerical technique, known as Red-Black Half-Sweep Successive Over-Relaxation (HSSOR-RB) iterative method, for mobile robot path planning. The results show that HSSOR-RB provides great potential for real application of mobile robot path generation.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: Laplace's Equation, Mobile robot path planning, Red-Black Half-Sweep Successive Over-Relaxation (HSSOR-RB)
Subjects: ?? TJ210.2-211.47 ??
Divisions: SCHOOL > School of Science and Technology
Depositing User: Unnamed user with email storage.bpmlib@ums.edu.my
Date Deposited: 04 Apr 2012 09:04
Last Modified: 29 Dec 2014 08:12
URI: http://eprints.ums.edu.my/id/eprint/3897

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