Robot path planning using Laplacian Behaviour-Based Control (LBBC) via Half-Sweep SOR

Abstract

Essentially, a truly autonomous mobile robot be capable of finding its own path from start to goal location without colliding with any obstacles. This paper investigates the effectiveness of a robot path planning technique that utilizes Laplacian Behaviour-Based Control (LBBC) for robot control and uses Laplace's Equation for generating potential function in the configuration space model. The robot control namely LBBC would enable the robot to recover from getting stuck in a flat region. Furthermore, an efficient iteration technique via Half-Sweep Successive Over-Relaxation (HSSOR) would provide fast computation for solving the Laplace's equation that represents the potential values of the configuration space.

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

“…Based on equation (15), we obtain the iterative scheme of four point-block iterative method that can be expressed as (16) where By adding a weighted parameter, ω, equation (16) can be rewritten as (17) Equation (17) represents the Four Point-Block SOR (4-BLSOR) iterative method. The algorithm to implement 4-BLSOR method is described below:…”

“…Alternatively, Daily and Bevly [14] use analytical solution for arbitrarily shaped obstacles. More recently, Saudi and Sulaiman employed block iteration procedure for behaviour-based robot in relatively very simple environment [16,20]. Block iterative methods had been extensively studied by Evans [21,22], Akhir et al [23], Muthuvalu et al [24], and Kew and Ali [25].…”

“…In this study, we apply the combination of block iterative methods with SOR for computing the HPFs in a static indoor structured environment. Unlike simple environment in our previous studies [16,20], in structured environment the path planner has to consider the inner and outer boundary walls and avoid various shapes of obstacles, as well as difficult corners, narrow paths and small rooms. For performance comparison, both point Gauss-Seidel and SOR iterative methods were also considered.…”

“…In the past, an exact method based on the HPFs were applied in many area of researches including ship navigation [5], trajectory control [6], space robot path planning [7], navigation of snake-like robot [8], UAV motion planning [9], marine vessel path planning [10], 3D motion planning for UAV [11,12], space exploration [13], etc. In robot navigation problem, the HPFs were successfully applied in various types of environments [14][15][16][17][18][19][20]. As an exact method, the approach based on HPFs posses the advantage of complete algorithm property to guarantee that the solutions can be found if they exist, or otherwise the algorithm can detect when no solution exists.…”

Harmonic Path Planning using Two-Stage Half- Sweep Arithmetic Mean Method

“…Pedersen and Fossen [4] developed the path planning of a machine vessel by utilizing harmonic functions through potential flow. In [5,6], harmonic functions were applied successfully for behaviour-based robot motion. Harmonic functions were also applied successfully for 3D path planning of Unmanned Aerial Vehicles [7].…”