Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator
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引用次数: 1
Abstract
Mobile robots are often in a situation where they need to find a bump-free path or navigation in their environment from any starting to a specific target point. Within this study, improving the navigation problem of a mobile robot iteratively by using a numerical method based on the potential field method is one of the main aims. This potential field will lean on the use of Laplace’s equation to restrain the formation of a potential function across regions within the mobile robot configuration area. The present paper proposed a Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) approach to improve the pathfinding of mobile robots in a given environment. The experiment shows that, by using a finite difference method, it is capable of producing an optimal path and creating a smooth path between the starting and target point. The results of the simulation also show that this numerical approach works more rapidly and provides a smoother/clearer direction than the previous study.
期刊介绍:
Modelling and Simulation in Engineering aims at providing a forum for the discussion of formalisms, methodologies and simulation tools that are intended to support the new, broader interpretation of Engineering. Competitive pressures of Global Economy have had a profound effect on the manufacturing in Europe, Japan and the USA with much of the production being outsourced. In this context the traditional interpretation of engineering profession linked to the actual manufacturing needs to be broadened to include the integration of outsourced components and the consideration of logistic, economical and human factors in the design of engineering products and services.