Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation
Lately, autonomous navigation has undergone constant research to develop superior path searching capabilities for self-directed navigation. This study attempt to improve the path navigation competence of a mobile robot by using the computational technique, namely the Half-Sweep Two-Parameter Over Re...
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| Format: | Proceedings |
| Language: | English English |
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Springer, Cham
2021
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| Online Access: | https://eprints.ums.edu.my/id/eprint/31131/5/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation-ABSTRACT.pdf https://eprints.ums.edu.my/id/eprint/31131/2/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation.pdf |
| _version_ | 1825714463915900928 |
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| author | Ahmad Dahalan, A'qilah Saudi, Azali |
| author_facet | Ahmad Dahalan, A'qilah Saudi, Azali |
| author_sort | Ahmad Dahalan, A'qilah |
| collection | UMS |
| description | Lately, autonomous navigation has undergone constant research to develop superior path searching capabilities for self-directed navigation. This study attempt to improve the path navigation competence of a mobile robot by using the computational technique, namely the Half-Sweep Two-Parameter Over Relaxation 5-Point Laplacian (HSTOR-5P) method, to solve pathfinding problems iteratively. The harmonic functions, which are the solution of Laplace’s equation, are the sources for generating the potential function of the mobile robot’s configuration space. As a result, the experiment shows that a smooth and optimal path in a given space is capable to create from any departure to the target point. Furthermore, it is proved that the HSTOR-5P approach was more effective than its predecessors in solving mobile robot pathfinding problems. |
| first_indexed | 2024-03-06T03:12:11Z |
| format | Proceedings |
| id | ums.eprints-31131 |
| institution | Universiti Malaysia Sabah |
| language | English English |
| last_indexed | 2024-03-06T03:12:11Z |
| publishDate | 2021 |
| publisher | Springer, Cham |
| record_format | dspace |
| spelling | ums.eprints-311312021-11-17T04:19:32Z https://eprints.ums.edu.my/id/eprint/31131/ Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation Ahmad Dahalan, A'qilah Saudi, Azali TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Lately, autonomous navigation has undergone constant research to develop superior path searching capabilities for self-directed navigation. This study attempt to improve the path navigation competence of a mobile robot by using the computational technique, namely the Half-Sweep Two-Parameter Over Relaxation 5-Point Laplacian (HSTOR-5P) method, to solve pathfinding problems iteratively. The harmonic functions, which are the solution of Laplace’s equation, are the sources for generating the potential function of the mobile robot’s configuration space. As a result, the experiment shows that a smooth and optimal path in a given space is capable to create from any departure to the target point. Furthermore, it is proved that the HSTOR-5P approach was more effective than its predecessors in solving mobile robot pathfinding problems. Springer, Cham 2021-03-11 Proceedings PeerReviewed text en https://eprints.ums.edu.my/id/eprint/31131/5/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation-ABSTRACT.pdf text en https://eprints.ums.edu.my/id/eprint/31131/2/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation.pdf Ahmad Dahalan, A'qilah and Saudi, Azali (2021) Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation. https://link.springer.com/chapter/10.1007/978-3-030-70917-4_27 |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Ahmad Dahalan, A'qilah Saudi, Azali Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| title | Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| title_full | Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| title_fullStr | Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| title_full_unstemmed | Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| title_short | Rotated TOR-5P laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| title_sort | rotated tor 5p laplacian iteration path navigation for obstacle avoidance in stationary indoor simulation |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | https://eprints.ums.edu.my/id/eprint/31131/5/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation-ABSTRACT.pdf https://eprints.ums.edu.my/id/eprint/31131/2/Rotated%20TOR-5P%20laplacian%20iteration%20path%20navigation%20for%20obstacle%20avoidance%20in%20stationary%20indoor%20simulation.pdf |
| work_keys_str_mv | AT ahmaddahalanaqilah rotatedtor5plaplacianiterationpathnavigationforobstacleavoidanceinstationaryindoorsimulation AT saudiazali rotatedtor5plaplacianiterationpathnavigationforobstacleavoidanceinstationaryindoorsimulation |