Authors : A.A. Dahalan, W.K. Ling, A. Saudi and J. Sulaiman
Abstract: Mobile robots have been undergoing constant research and development to improve its capability, especially, in its ability plan its path and move to specified destination in a given environment. However, there is much room for improvement of mobile robot path planning efficiency. This study attempts to improve the path planning efficiency of mobile robots by solving the path planning problems iteratively by using numerical method. This method of solution is based on harmonic function that applies the Laplace’s equation to control the generation of potential function over the regions found in the mobile robot’s configuration space. This study proposed the application of Half-Sweep Modified Accelerated Over-Relaxation (HSMAOR) iterative method to solve the mobile robot path planning problem. By using approximation finite scheme, the experiment was able to produce smooth path planning for the mobile robot to move from its starting point to its goal point. Other than that, the experiment also shows that this numerical method of solving path planning problem is faster and is able to produce smoother path for the mobile robot’s point to point movements.
A.A. Dahalan, W.K. Ling, A. Saudi and J. Sulaiman, 2019. Application of Half-Sweep MAOR Iterative Method on Autonomous Robot Path Planning in Static Indoor Environment. Journal of Engineering and Applied Sciences, 14: 8855-8861.