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Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group

In this paper, a robust searching algorithm to generate path planning for mobile robot is proposed. It is inspired by the behaviour-based paradigm approach to robotics architecture, in which the searching algorithm employs Laplacian Behaviour-Based Control (LBBC) during space exploration of the envi...

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Main Authors: Azali Saudi, Jumat Sulaiman
Format: Article
Language:English
Published: Ceser Publications 2014
Subjects:
TJ Mechanical engineering and machinery
Online Access:https://eprints.ums.edu.my/id/eprint/20584/1/Hybrid%20path%20planning%20for%20indoor%20robot%20with%20Laplacian%20Behaviour.pdf
https://eprints.ums.edu.my/id/eprint/20584/
http://www.ceser.in/ceserp/index.php/iji/article/view/2821
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spelling my.ums.eprints.205842018-08-06T08:28:23Z https://eprints.ums.edu.my/id/eprint/20584/ Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group Azali Saudi Jumat Sulaiman TJ Mechanical engineering and machinery In this paper, a robust searching algorithm to generate path planning for mobile robot is proposed. It is inspired by the behaviour-based paradigm approach to robotics architecture, in which the searching algorithm employs Laplacian Behaviour-Based Control (LBBC) during space exploration of the environment. The LBBC make use of the potential functions in the configuration space model to guide its exploration. Laplace’s equation was used to represent the potential functions in the configuration space of the robot. Consequently, the gradient of the potential functions would be used by the searching algorithm to generate path from starting to goal location. In a difficult environment, however, it suffers from the occurrence of flat region with no appreciable gradient, which result in the difficulty for the searching algorithm to generate path. The LBBC would enable the searching algorithm to generate path successfully even with the occurrence of this flat region. In this paper, the solution to Laplace’s equation is calculated via Four Point-Explicit Group (4EG) iterative method for rapid computation compared to the traditional point Gauss-Seidel iteration. Ceser Publications 2014 Article PeerReviewed text en https://eprints.ums.edu.my/id/eprint/20584/1/Hybrid%20path%20planning%20for%20indoor%20robot%20with%20Laplacian%20Behaviour.pdf Azali Saudi and Jumat Sulaiman (2014) Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group. International Journal of Imaging and Robotics, 12 (1). ISSN 2231-525X http://www.ceser.in/ceserp/index.php/iji/article/view/2821
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 TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Azali Saudi
Jumat Sulaiman
Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group
description In this paper, a robust searching algorithm to generate path planning for mobile robot is proposed. It is inspired by the behaviour-based paradigm approach to robotics architecture, in which the searching algorithm employs Laplacian Behaviour-Based Control (LBBC) during space exploration of the environment. The LBBC make use of the potential functions in the configuration space model to guide its exploration. Laplace’s equation was used to represent the potential functions in the configuration space of the robot. Consequently, the gradient of the potential functions would be used by the searching algorithm to generate path from starting to goal location. In a difficult environment, however, it suffers from the occurrence of flat region with no appreciable gradient, which result in the difficulty for the searching algorithm to generate path. The LBBC would enable the searching algorithm to generate path successfully even with the occurrence of this flat region. In this paper, the solution to Laplace’s equation is calculated via Four Point-Explicit Group (4EG) iterative method for rapid computation compared to the traditional point Gauss-Seidel iteration.
format Article
author Azali Saudi
Jumat Sulaiman
author_facet Azali Saudi
Jumat Sulaiman
author_sort Azali Saudi
title Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group
title_short Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group
title_full Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group
title_fullStr Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group
title_full_unstemmed Hybrid path planning for indoor robot with Laplacian Behaviour-based control via four point-explicit group
title_sort hybrid path planning for indoor robot with laplacian behaviour-based control via four point-explicit group
publisher Ceser Publications
publishDate 2014
url https://eprints.ums.edu.my/id/eprint/20584/1/Hybrid%20path%20planning%20for%20indoor%20robot%20with%20Laplacian%20Behaviour.pdf
https://eprints.ums.edu.my/id/eprint/20584/
http://www.ceser.in/ceserp/index.php/iji/article/view/2821
_version_ 1760229734321487872
score 13.211869

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