Robot path planning via EGSOR iterative method using Nine-Point Laplacian

Azali Saudi, and Jumat Sulaiman, (2012) Robot path planning via EGSOR iterative method using Nine-Point Laplacian. In: 3rd International Conference on Intelligent Systems Modelling and Simulation, ISMS 2012, 8-10 February 2012, Kota Kinabalu, Sabah.

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Official URL: http://dx.doi.org/10.1109/ISMS.2012.118

Abstract

Path planning is an important issue as it allows a robot to get from start point to goal point. In this study, we attempts to solve path planning problem for mobile robot 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 robot. An experiment based on finite-difference techniques shows a local minima-free motion with smooth path between the start and goal points. This paper proposed a weighted block iterative method also known as EGSOR via 9-Point Laplacian (EGSOR-9) for solving robot path planning problem. The simulation result shows that this new method provides faster solution and smoother path compared to the previous work.

Item Type:Conference Paper (UNSPECIFIED)
Uncontrolled Keywords:Explicit group SOR (EGSOR) iterative method, Harmonic functions, Laplace's equation, Nine-Point Laplacian, Robot path planning, Block iterative method, Configuration space, Finite-difference techniques, Goal points, Laplace's equations, Laplacians, Path planning problems, Potential field methods, Potential function, Robot path-planning, Start point, Harmonic functions, Intelligent systems, Laplace transforms, Mobile robots, Motion planning, Iterative methods
Subjects:?? TJ210.2-211.47 ??
Divisions:SCHOOL > School of Engineering and Information Technology
ID Code:5576
Deposited By:IR Admin
Deposited On:10 Dec 2012 14:53
Last Modified:08 Sep 2014 16:40

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