An iterative technique for solving path planning in identified environments by using a skewed block accelerated algorithm

AIMS Mathematics

article

A'qilah Ahmad Dahalan¹  Azali Saudi⁴ 

[1]CONFIRM Centre for SMART Manufacturing, University of Limerick

[2]MACSI, Department of Mathematics and Statistics, University of Limerick

[3]Department of Mathematics, Universiti Pertahanan Nasional Malaysia

[4]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

【 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