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

Dahalan, A. A.; Saudi, Azali; Sulaiman, Jumat

doi:10.1155/2022/9388146

Cited by 3 publications

(1 citation statement)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Another uniqueness or novelty component of this study is the implementation of the red-black block overrelaxation scheme families in robot path planning and in Algorithm 1. To further the proposed approaches for future work, investigation into the half- [9,11,26,27] and quarter-sweep strategy [28,[36][37][38] will be considered. It is anticipated that these approaches will improve the overall computation.…”

Section: Discussionmentioning

confidence: 99%

Enhancing Autonomous Guided Vehicles with Red-Black TOR Iterative Method

Dahalan,

Saudi,

Sulaiman

2023

Mathematics

View full text Add to dashboard Cite

To address an autonomous guided vehicle problem, this article presents extended variants of the established block over-relaxation method known as the Block Modified Two-Parameter Over-relaxation (B-MTOR) method. The main challenge in handling autonomous-driven vehicles is to offer an efficient and reliable path-planning algorithm equipped with collision-free feature. This work intends to solve the path navigation with obstacle avoidance problem explicitly by using a numerical approach, where the mobile robot must project a route to outperform the efficiency of its travel from any initial position to the target location in the designated area. The solution builds on the potential field technique that uses Laplace’s equation to restrict the formation of potential functions across operating mobile robot regions. The existing block over-relaxation method and its variants evaluate the computation by obtaining four Laplacian potentials per computation in groups. These groups can also be viewed as groups of two points and single points if they’re close to the boundary. The proposed B-MTOR technique employs red-black ordering with four different weighted parameters. By carefully choosing the optimal parameter values, the suggested B-MTOR improved the computational execution of the algorithm. In red-black ordering, the computational molecules of red and black nodes are symmetrical. When the computation of red nodes is performed, the updated values of their four neighbouring black nodes are applied, and conversely. The performance of the newly proposed B-MTOR method is compared against the existing methods in terms of computational complexity and execution time. The simulation findings reveal that the red-black variants are superior to their corresponding regular variants, with the B-MTOR approach giving the best performance. The experiment also shows that, by applying a finite difference method, the mobile robot is capable of producing a collision-free path from any start to a given target point. In addition, the findings also verified that numerical techniques could provide an accelerated solution and have generated a smoother path than earlier work on the same issue.

show abstract

Section: Discussionmentioning

confidence: 99%

Enhancing Autonomous Guided Vehicles with Red-Black TOR Iterative Method

Dahalan,

Saudi,

Sulaiman

2023

Mathematics

View full text Add to dashboard Cite

show abstract

Iterative Method for Solving Nonlinear Fredholm Integral Equations Using Quarter-Sweep Newton-PKSOR Method

Ali

Sulaiman

Saudi

2023

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

An iterative technique for solving path planning in identified environments by using a skewed block accelerated algorithm

Dahalan

Saudi

2022

MATH

View full text Add to dashboard Cite

<abstract> <p>Currently, designing path-planning concepts for autonomous robot systems remains a topic of high interest. This work applies computational analysis through a numerical approach to deal with the path-planning problem with obstacle avoidance over a robot simulation. Based on the potential field produced by Laplace's equation, the formation of a potential function throughout the simulation configuration regions is obtained. This potential field is typically employed as a guide in the global approach of robot path-planning. An extended variant of the over-relaxation technique, namely the skewed block two-parameter over relaxation (SBTOR), otherwise known as the explicit decoupled group two-parameter over relaxation method, is presented to obtain the potential field that will be used for solving the path-planning problem. Experimental results with a robot simulator are presented to demonstrate the performance of the proposed approach on computing the harmonic potential for solving the path-planning problem. In addition to successfully validating pathways generated from various locations, it is also demonstrated that SBTOR outperforms existing over-relaxation algorithms in terms of the number of iterations, as well as the execution time.</p> </abstract>

show abstract

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

Cited by 3 publications

References 26 publications

Enhancing Autonomous Guided Vehicles with Red-Black TOR Iterative Method

Enhancing Autonomous Guided Vehicles with Red-Black TOR Iterative Method

Iterative Method for Solving Nonlinear Fredholm Integral Equations Using Quarter-Sweep Newton-PKSOR Method

An iterative technique for solving path planning in identified environments by using a skewed block accelerated algorithm

Contact Info

Product

Resources

About