Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation
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 Re...
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2021
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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 |
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my.ums.eprints.311312021-11-17T04:19:32Z https://eprints.ums.edu.my/id/eprint/31131/ Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation Ahmad Dahalan, A'qilah Saudi, Azali TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) 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. Springer, Cham 2021-03-11 Proceedings PeerReviewed text en 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 text en https://eprints.ums.edu.my/id/eprint/31131/2/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation.pdf Ahmad Dahalan, A'qilah and Saudi, Azali (2021) Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation. https://link.springer.com/chapter/10.1007/978-3-030-70917-4_27 |
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TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Ahmad Dahalan, A'qilah Saudi, Azali Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
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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. |
format |
Proceedings |
author |
Ahmad Dahalan, A'qilah Saudi, Azali |
author_facet |
Ahmad Dahalan, A'qilah Saudi, Azali |
author_sort |
Ahmad Dahalan, A'qilah |
title |
Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
title_short |
Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
title_full |
Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
title_fullStr |
Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
title_full_unstemmed |
Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
title_sort |
rotated tor-5p laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
publisher |
Springer, Cham |
publishDate |
2021 |
url |
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 |
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13.18916 |