Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials
Mobile robots are always in a state where they have to find a collision-free path in their environment from start to the target point. This study tries to solve the problem of mobile robot iteratively by using a numerical technique. It is based on potential field technique that was modelled using th...
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| Format: | Article |
| Language: | English English |
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EDP Sciences
2020
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| Online Access: | https://eprints.ums.edu.my/id/eprint/26929/1/Robot%20pathfinding%20with%20obstacle%20avoidance%20capabilities%20in%20a%20static%20indoor%20environment%20via%20TOR%20iterative%20method%20using%20harmonic%20potentials%20FULLTEXT.pdf https://eprints.ums.edu.my/id/eprint/26929/2/Robot%20pathfinding%20with%20obstacle%20avoidance%20capabilities%20in%20a%20static%20indoor%20environment%20via%20TOR%20iterative%20method%20using%20harmonic%20potentials%20ABSTRACT.pdf |
| _version_ | 1796910572742115328 |
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| author | A’Qilah Ahmad Dahalan Azali Saudi Jumat Sulaiman |
| author_facet | A’Qilah Ahmad Dahalan Azali Saudi Jumat Sulaiman |
| author_sort | A’Qilah Ahmad Dahalan |
| collection | UMS |
| description | Mobile robots are always in a state where they have to find a collision-free path in their environment from start to the target point. This study tries to solve the problem of mobile robot iteratively by using a numerical technique. It is based on potential field technique that was modelled using the Laplace’s equation to restrain the creation of a potential functions across regions in the mobile robot’s configuration space. The gradient formed by the potential field is then used to generate a path for the robot to advance through. The present paper proposes a Two-Parameter Over-Relaxation (TOR) iterative method that is used to solve Laplace’s equation for obtaining the potential field that is then utilized for finding path of the robot, thus solving the robot pathfinding problem. The experiment indicates that it is capable of producing a smooth path between the starting and target points through the use of a finite-difference technique. Furthermore, the simulation results show that this numerical approach executes quicker and provides a smoother trail than to the previous works, that includes Successive Over-Relaxation (SOR) and Accelerated OverRelaxation (AOR) methods. |
| first_indexed | 2024-03-06T03:06:29Z |
| format | Article |
| id | ums.eprints-26929 |
| institution | Universiti Malaysia Sabah |
| language | English English |
| last_indexed | 2024-03-06T03:06:29Z |
| publishDate | 2020 |
| publisher | EDP Sciences |
| record_format | dspace |
| spelling | ums.eprints-269292021-05-04T06:21:44Z https://eprints.ums.edu.my/id/eprint/26929/ Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials A’Qilah Ahmad Dahalan Azali Saudi Jumat Sulaiman C Auxiliary sciences of history (General) TJ Mechanical engineering and machinery U Military Science (General) Mobile robots are always in a state where they have to find a collision-free path in their environment from start to the target point. This study tries to solve the problem of mobile robot iteratively by using a numerical technique. It is based on potential field technique that was modelled using the Laplace’s equation to restrain the creation of a potential functions across regions in the mobile robot’s configuration space. The gradient formed by the potential field is then used to generate a path for the robot to advance through. The present paper proposes a Two-Parameter Over-Relaxation (TOR) iterative method that is used to solve Laplace’s equation for obtaining the potential field that is then utilized for finding path of the robot, thus solving the robot pathfinding problem. The experiment indicates that it is capable of producing a smooth path between the starting and target points through the use of a finite-difference technique. Furthermore, the simulation results show that this numerical approach executes quicker and provides a smoother trail than to the previous works, that includes Successive Over-Relaxation (SOR) and Accelerated OverRelaxation (AOR) methods. EDP Sciences 2020 Article PeerReviewed text en https://eprints.ums.edu.my/id/eprint/26929/1/Robot%20pathfinding%20with%20obstacle%20avoidance%20capabilities%20in%20a%20static%20indoor%20environment%20via%20TOR%20iterative%20method%20using%20harmonic%20potentials%20FULLTEXT.pdf text en https://eprints.ums.edu.my/id/eprint/26929/2/Robot%20pathfinding%20with%20obstacle%20avoidance%20capabilities%20in%20a%20static%20indoor%20environment%20via%20TOR%20iterative%20method%20using%20harmonic%20potentials%20ABSTRACT.pdf A’Qilah Ahmad Dahalan and Azali Saudi and Jumat Sulaiman (2020) Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials. ITM Web of Conferences, 36 (1). pp. 1-7. ISSN 2271-2097 https://www.itm-conferences.org/articles/itmconf/pdf/2021/01/itmconf_icmsa2021_04006.pdf https://doi.org/10.1051/itmconf/20213604006 https://doi.org/10.1051/itmconf/20213604006 |
| spellingShingle | C Auxiliary sciences of history (General) TJ Mechanical engineering and machinery U Military Science (General) A’Qilah Ahmad Dahalan Azali Saudi Jumat Sulaiman Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials |
| title | Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials |
| title_full | Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials |
| title_fullStr | Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials |
| title_full_unstemmed | Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials |
| title_short | Robot pathfinding with obstacle avoidance capabilities in a static indoor environment via TOR iterative method using harmonic potentials |
| title_sort | robot pathfinding with obstacle avoidance capabilities in a static indoor environment via tor iterative method using harmonic potentials |
| topic | C Auxiliary sciences of history (General) TJ Mechanical engineering and machinery U Military Science (General) |
| url | https://eprints.ums.edu.my/id/eprint/26929/1/Robot%20pathfinding%20with%20obstacle%20avoidance%20capabilities%20in%20a%20static%20indoor%20environment%20via%20TOR%20iterative%20method%20using%20harmonic%20potentials%20FULLTEXT.pdf https://eprints.ums.edu.my/id/eprint/26929/2/Robot%20pathfinding%20with%20obstacle%20avoidance%20capabilities%20in%20a%20static%20indoor%20environment%20via%20TOR%20iterative%20method%20using%20harmonic%20potentials%20ABSTRACT.pdf |
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