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Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method

This paper presents an attempt to solve path planning problem for a mobile robot operating in indoor environment model using iterative numerical technique. It is based on the use of Laplace’s Equation to compute the potential functions in the environment grid model of the robot. The proposed block i...

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Main Authors: Azali Saudi, Jumat Sulaiman
Format: Article
Language:English
Published: 2012
Subjects:
QA Mathematics
Online Access:https://eprints.ums.edu.my/id/eprint/20515/1/Path%20planning%20for%20mobile%20robot%20using%204EGSOR%20via%20Nine.pdf
https://eprints.ums.edu.my/id/eprint/20515/
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spelling my.ums.eprints.205152018-07-17T05:57:25Z https://eprints.ums.edu.my/id/eprint/20515/ Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method Azali Saudi Jumat Sulaiman QA Mathematics This paper presents an attempt to solve path planning problem for a mobile robot operating in indoor environment model using iterative numerical technique. It is based on the use of Laplace’s Equation to compute the potential functions in the environment grid model of the robot. The proposed block iterative method, better known as Four Point-Explicit Group via Nine-Point Laplacian (4EGSOR9L), employs a finite difference scheme to compute the potential functions to be used in generating smooth path between start and goal points. The simulation results demonstrate that the proposed 4EGSOR9L method performs faster than the previous methods in computing the potential functions of the environment model. 2012 Article PeerReviewed text en https://eprints.ums.edu.my/id/eprint/20515/1/Path%20planning%20for%20mobile%20robot%20using%204EGSOR%20via%20Nine.pdf Azali Saudi and Jumat Sulaiman (2012) Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method. International Journal of Computer Applications, 53 (16). ISSN 0975 – 8887
institution Universiti Malaysia Sabah
building UMS Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Sabah
content_source UMS Institutional Repository
url_provider http://eprints.ums.edu.my/
language English
topic QA Mathematics
spellingShingle QA Mathematics
Azali Saudi
Jumat Sulaiman
Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method
description This paper presents an attempt to solve path planning problem for a mobile robot operating in indoor environment model using iterative numerical technique. It is based on the use of Laplace’s Equation to compute the potential functions in the environment grid model of the robot. The proposed block iterative method, better known as Four Point-Explicit Group via Nine-Point Laplacian (4EGSOR9L), employs a finite difference scheme to compute the potential functions to be used in generating smooth path between start and goal points. The simulation results demonstrate that the proposed 4EGSOR9L method performs faster than the previous methods in computing the potential functions of the environment model.
format Article
author Azali Saudi
Jumat Sulaiman
author_facet Azali Saudi
Jumat Sulaiman
author_sort Azali Saudi
title Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method
title_short Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method
title_full Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method
title_fullStr Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method
title_full_unstemmed Path planning for mobile robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) iterative method
title_sort path planning for mobile robot using 4egsor via nine-point laplacian (4egsor9l) iterative method
publishDate 2012
url https://eprints.ums.edu.my/id/eprint/20515/1/Path%20planning%20for%20mobile%20robot%20using%204EGSOR%20via%20Nine.pdf
https://eprints.ums.edu.my/id/eprint/20515/
_version_ 1760229725384474624
score 13.211869

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