Numerical technique for robot path planning using four Point-EG iterative method

Azali Saudi and Jumat Sulaiman (2010) Numerical technique for robot path planning using four Point-EG iterative method. In: 2010 International Symposium on Information Technology (ITSim'10), 15-17 June 2010, Kuala Lumpur, Malaysia.

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Abstract

Path planning is an important issue as it allows a robot to get from start point to goal point. In this work, we attempt to solve robot path planning problem iteratively using numerical technique. It is based on the use of Laplace's Equation to compute potential function in the configuration space of a mobile robot. This paper proposed a block iterative method known as 4 Point-EG for solving robot path planning problem. By employing a finite-difference technique, the experiment shows that it able to generate smooth path between the start and goal points. Furthermore, the simulation results show that 4 Point-EG performs faster than the previous method in generating path for mobile robot motion. © 2010 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: Four Point-explicit group (4 Point-EG) iterative method, Harmonic functions, Laplace's Equation, Mobile robot path planning,
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ1-1570 Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions: SCHOOL > School of Science and Technology
Depositing User: ADMIN ADMIN
Date Deposited: 10 Mar 2011 18:10
Last Modified: 29 Dec 2014 16:15
URI: http://eprints.ums.edu.my/id/eprint/2186

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