Robot path planning based on four Point-EGSOR iterative method

Author

Saudi, Azali ; Sulaiman, Jumat

Author_Institution

Sch. of Sci. & Technol., Univ. Malaysia Sabah, Kota Kinabalu, Malaysia

fYear

2010

fDate

28-30 June 2010

Firstpage

476

Lastpage

481

Abstract

This paper proposed a weighted block technique based on a block of four points known as 4 Point-EGSOR iterative method to solve path planning problem for mobile robot. It is based on the use of Laplace´s equation to represent potential function in the configuration space of the robot. The experiment is carried out by applying finite-difference technique to produce smooth path that is free from local minima creation. The simulation results show that 4 Point-EGSOR method performs faster than the previous method in generating path for mobile robot motion.

Keywords

Laplace equations; finite difference methods; iterative methods; mobile robots; path planning; Laplace equation; finite difference technique; four point EGSOR iterative method; mobile robot; path planning; Finite difference methods; Heat transfer; Iterative methods; Laplace equations; Mobile robots; Navigation; Orbital robotics; Paper technology; Path planning; Temperature distribution; Explicit Group; Four Point-EGSOR iterative method; Laplace´s equation; Mobile robot path planning; harmonic functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-6503-3

Type

conf

DOI

10.1109/RAMECH.2010.5513146

Filename

5513146