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

[摘要] 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.

[学科分类] 地球科学(综合)

[关键词] rotated iterative scheme;numerical analysis;Laplace's equation;accelerated method;path finding;obstacle avoidance