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Path Planning for Mobile Robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) Iterative Method

by Azali Saudi, Jumat Sulaiman
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 53 - Number 16
Year of Publication: 2012
Authors: Azali Saudi, Jumat Sulaiman
10.5120/8509-2568

Azali Saudi, Jumat Sulaiman . Path Planning for Mobile Robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) Iterative Method. International Journal of Computer Applications. 53, 16 ( September 2012), 38-42. DOI=10.5120/8509-2568

@article{ 10.5120/8509-2568,
author = { Azali Saudi, Jumat Sulaiman },
title = { Path Planning for Mobile Robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) Iterative Method },
journal = { International Journal of Computer Applications },
issue_date = { September 2012 },
volume = { 53 },
number = { 16 },
month = { September },
year = { 2012 },
issn = { 0975-8887 },
pages = { 38-42 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume53/number16/8509-2568/ },
doi = { 10.5120/8509-2568 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:54:29.445142+05:30
%A Azali Saudi
%A Jumat Sulaiman
%T Path Planning for Mobile Robot using 4EGSOR via Nine-Point Laplacian (4EGSOR9L) Iterative Method
%J International Journal of Computer Applications
%@ 0975-8887
%V 53
%N 16
%P 38-42
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

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.

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Index Terms

Computer Science
Information Sciences

Keywords

Robot path planning Four-Point Explicit Group SOR via Nine-Point Laplacian (4EG9LSOR) Laplace's equation

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