Open AccessAutonomous path planning through application of rotated two-parameter overrelaxation 9-point Laplacian iteration technique
Author(s) -
Weiwei Ling,
A. A. Dahalan,
Azali Saudi
Publication year - 2021
Publication title -
indonesian journal of electrical engineering and computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.241
H-Index - 17
eISSN - 2502-4760
pISSN - 2502-4752
DOI - 10.11591/ijeecs.v22.i2.pp1116-1123
Subject(s) - motion planning , maxima and minima , path (computing) , laplace operator , laplace transform , harmonic function , mathematical optimization , robotics , computation , mathematics , point (geometry) , computer science , robot , algorithm , artificial intelligence , mathematical analysis , geometry , programming language
Autonomous path navigation is one of the important studies in robotics since a robot’s ability to navigate through an environment brings about many advancements with it. This paper suggests the iteration technique called half-sweep two parameter overrelaxation 9-point laplacian (HSTOR-9P) to be applied on autonomous path navigation and aims to investigate its effectiveness in performing computation for path planning in an indoor static environment. This iteration technique is a harmonic function that solves the Laplace’s equation where the modelling of the environment is based on. The harmonic functions are an appropriate method to be used on autonomous path planning because it satisfies the min-max principle, therefore avoiding the occurrence of local minima which traps robot’s movements, and that it offers complete path planning algorithm. Its performance is tested against its predecessor iteration technique. Results shown that HSTOR-9P iteration technique enables path construction in a lower number of iterations, thus, performs better than its predecessors.