Numerical evaluation of mobile robot navigation in static indoor environment via EGAOR Iteration

Dahalan, A. A.; Saudi, Azali; Sulaiman, Jumat; Din, Wan Rozita Wan

doi:10.1088/1742-6596/890/1/012064

Cited by 8 publications

(4 citation statements)

References 7 publications

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“…The proposed algorithms provide a safe and smooth path from the start to the target regardless of obstacle shape and position since the generated path tends to move away from the obstacles. In the future work, the approach can be extended by employing a more advanced numerical technique that utilizes block iteration [23,24], further speeding up the convergence rate of the iteration process.…”

Section: Discussionmentioning

confidence: 99%

Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator

Dahalan

Saudi

Sulaiman

2022

Modelling and Simulation in Engineering

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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.

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Section: Discussionmentioning

confidence: 99%

Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator

Dahalan

Saudi

Sulaiman

2022

Modelling and Simulation in Engineering

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“…In [8], it was shown that the application of SOR for computing the harmonic functions had drastically improved the overall performance of the path planning algorithm. Recently, an extension to SOR namely Accelerated Overrelaxation (AOR) method was applied for navigation in various cases, for examples for mobile robot in indoor, static and structured environment [4]. Very recently, AOR method was also applied in image blending [5].…”

Section: Related Workmentioning

confidence: 99%

Path Planning of UAV based on Fluid Computing via Accelerated Method

Wahab¹,

Chekima²,

Saad³

et al. 2020

IJETT

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This paper presents our study on the method for planning the path for low-flying unmanned aerial vehicle (UAV) in complex terrain based on the theory of fluid flow. First, the 2D terrain map is generated using hill algorithm. Then the fluid field distribution is computed using fluid mechanics to establish streamlines in the field. These streamlines are then used as flight paths for UAV. In fluid mechanics, Laplace's equation is used as the controlling equation of the potential flow. The solutions of Laplace's equation can be solved using finite difference method. Existing methods are slow in computing the solutions for generating UAVs flight path. Hence, they are not suitable for real-time processing. In this paper, an efficient iterative method namely Two-Parameter Overrelaxation (TOR) method that employ an acceleration parameter is proposed. The efficiency of this approach is shown by comparing its performance with the previous methods. It was shown that the proposed TOR method outperformed the previous methods.

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“…This is mainly due to the capability of fast computing resources and efficient numerical methods in solving the problem. Prior, there were three standard iterative methods used to solve route navigation problems such as Jacobi, Gauss-Seidel (GS), and Successive Over Relaxation (SOR) (Dahalan et al, 2017). In the literature, it was shown that the performance of SOR is noticeably faster than the classical Jacobi and standard GS.…”

Section: Introductionmentioning

confidence: 99%

Agent Navigation based on Boundary Value Problem using Iterative Methods

Musli,

Saudi

2023

JSML

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This paper presents the simulation of numerical solutions to the navigational problem of an agent traveling safely in its environment. The approach is based on the numeric solutions of the boundary value problem (BVP) that generate harmonic potential fields through a differential equation whose gradient represents navigation routes to the destination. Two methods, namely KSOR and KAOR, were tested to solve the BVP. KSOR and KAOR are variants of the standard SOR and AOR methods, respectively. In this work, the KSOR and KAOR methods were used to solve the BVP by applying Laplace's equation to obtain harmonic functions. The generated harmonic functions are then utilized by the searching algorithm to find a smooth navigational route for an agent to travel in its environment without colliding with any obstacles. The numerical results from the solutions of BVP demonstrate that the KAOR provides a faster execution time with fewer iterations compared to the KSOR method.

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Numerical evaluation of mobile robot navigation in static indoor environment via EGAOR Iteration

Cited by 8 publications

References 7 publications

Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator

Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator

Path Planning of UAV based on Fluid Computing via Accelerated Method

Agent Navigation based on Boundary Value Problem using Iterative Methods

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