期刊论文详细信息
AIMS Mathematics
An iterative technique for solving path planning in identified environments by using a skewed block accelerated algorithm
article
A'qilah Ahmad Dahalan1  Azali Saudi4 
[1] CONFIRM Centre for SMART Manufacturing, University of Limerick;MACSI, Department of Mathematics and Statistics, University of Limerick;Department of Mathematics, Universiti Pertahanan Nasional Malaysia;Faculty of Computing and Informatics, Universiti Malaysia Sabah
关键词: rotated iterative scheme;    numerical analysis;    Laplace's equation;    accelerated method;    path finding;    obstacle avoidance;   
DOI  :  10.3934/math.2023288
学科分类:地球科学(综合)
来源: AIMS Press
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【 摘 要 】

Currently, designing path-planning concepts for autonomous robot systems remains a topic of high interest. This work applies computational analysis through a numerical approach to deal with the path-planning problem with obstacle avoidance over a robot simulation. Based on the potential field produced by Laplace's equation, the formation of a potential function throughout the simulation configuration regions is obtained. This potential field is typically employed as a guide in the global approach of robot path-planning. An extended variant of the over-relaxation technique, namely the skewed block two-parameter over relaxation (SBTOR), otherwise known as the explicit decoupled group two-parameter over relaxation method, is presented to obtain the potential field that will be used for solving the path-planning problem. Experimental results with a robot simulator are presented to demonstrate the performance of the proposed approach on computing the harmonic potential for solving the path-planning problem. In addition to successfully validating pathways generated from various locations, it is also demonstrated that SBTOR outperforms existing over-relaxation algorithms in terms of the number of iterations, as well as the execution time.

【 授权许可】

CC BY   

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