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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Indoor Path Planning for Mobile Robot using Half.pdf Download (128kB) | Preview |
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 |
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| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Department: | SCHOOL > School of Engineering and Information Technology |
| Depositing User: | OTHMAN HJ RAWI - |
| Date Deposited: | 24 Apr 2019 07:20 |
| Last Modified: | 24 Apr 2019 07:20 |
| URI: | https://eprints.ums.edu.my/id/eprint/21805 |
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