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

• Main Authors: Ahmad Dahalan, A'qilah, Saudi, Azali
• Format: Proceedings
• Language: English; English
• Published: Springer, Cham 2021
• Subjects: TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
• Online Access: https://eprints.ums.edu.my/id/eprint/31131/5/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation-ABSTRACT.pdf; https://eprints.ums.edu.my/id/eprint/31131/2/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation.pdf; https://eprints.ums.edu.my/id/eprint/31131/; https://link.springer.com/chapter/10.1007/978-3-030-70917-4_27

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.