Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation

Ahmad Dahalan, A'qilah and Saudi, Azali (2021) Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation.

	Text Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation-ABSTRACT.pdf Download (97kB)
	Text Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation.pdf Restricted to Registered users only Download (494kB) | Request a copy

Abstract

Lately, autonomous navigation has undergone constant research to develop superior path searching capabilities for self-directed navigation. This study attempt to improve the path navigation competence of a mobile robot by using the computational technique, namely the Half-Sweep Two-Parameter Over Relaxation 5-Point Laplacian (HSTOR-5P) method, to solve pathfinding problems iteratively. The harmonic functions, which are the solution of Laplace’s equation, are the sources for generating the potential function of the mobile robot’s configuration space. As a result, the experiment shows that a smooth and optimal path in a given space is capable to create from any departure to the target point. Furthermore, it is proved that the HSTOR-5P approach was more effective than its predecessors in solving mobile robot pathfinding problems.

Item Type:	Proceedings
Keyword:	Mobile robot path finding , Optimal path , Collision free , Half-sweep technique
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)
Department:	FACULTY > Faculty of Computing and Informatics
Depositing User:	DG MASNIAH AHMAD -
Date Deposited:	17 Nov 2021 12:19
Last Modified:	17 Nov 2021 12:19
URI:	https://eprints.ums.edu.my/id/eprint/31131

Actions (login required)

View Item