Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator
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...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Modelling and Simulation in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/9388146 |
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| author | A’qilah A. Dahalan Azali Saudi Jumat Sulaiman |
| author_facet | A’qilah A. Dahalan Azali Saudi Jumat Sulaiman |
| author_sort | A’qilah A. Dahalan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-1c30fffd270940639016a5972d7fc015 |
| institution | Kabale University |
| issn | 1687-5605 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Modelling and Simulation in Engineering |
| spelling | doaj-art-1c30fffd270940639016a5972d7fc0152025-02-03T01:12:14ZengWileyModelling and Simulation in Engineering1687-56052022-01-01202210.1155/2022/9388146Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian OperatorA’qilah A. Dahalan0Azali Saudi1Jumat Sulaiman2Centre for Defence Foundation StudiesFaculty of Computing and InformaticsFaculty of Science and Natural ResourcesMobile 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.http://dx.doi.org/10.1155/2022/9388146 |
| spellingShingle | A’qilah A. Dahalan Azali Saudi Jumat Sulaiman Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator Modelling and Simulation in Engineering |
| title | Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator |
| title_full | Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator |
| title_fullStr | Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator |
| title_full_unstemmed | Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator |
| title_short | Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator |
| title_sort | pathfinding for mobile robot navigation by exerting the quarter sweep modified accelerated overrelaxation qsmaor iterative approach via the laplacian operator |
| url | http://dx.doi.org/10.1155/2022/9388146 |
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