Agent Navigation via Harmonic Potentials with Half-Sweep Kaudd Successive Over Relaxation (HSKSOR) Method

Abstract

Navigation problems of an agent in a virtual environment had been widely studied by many researchers. This paper presents a combination method based on Half-Sweep (HS) iteration and Kaudd Successive Over Relaxation (KSOR) to solve agent navigation problem in a simulated virtual environment. The proposed method, namely Half-Sweep Kaudd Successive Over Relaxation (HSKSOR), is used to obtain the solutions of Laplace’s equation known as harmonic functions which then be applied in the search algorithm to generate collision-free path for an agent to navigate from a specified start point to a target point. The results found that the HSKSOR offers faster computational approach with less computational time compared to the existing iterative methods.