Indoor Path Planning for Mobile Robot using Half-Sweep Gauss-Seidel via Nine-Point Laplacian (HSGS9L).

• Main Authors: Azali Saudi, Jumat Sulaiman
• Format: Article
• Language: English
• Published: ESRSA Publications Pvt. Ltd. 2012
• Subjects: TJ Mechanical engineering and machinery
• Online Access: 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/

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.