Indoor Path Planning for Mobile Robot using Half-Sweep Gauss-Seidel via Nine-Point Laplacian (HSGS9L).
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...
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| Main Authors: | , |
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| 格式: | Article |
| 语言: | English |
| 出版: |
ESRSA Publications Pvt. Ltd.
2012
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| 主题: | |
| 在线阅读: | https://eprints.ums.edu.my/id/eprint/21805/1/Indoor%20Path%20Planning%20for%20Mobile%20Robot%20using%20Half.pdf https://eprints.ums.edu.my/id/eprint/21805/ |
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| 总结: | 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. |
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