Robot Path Planning Using Four Point-Explicit Group Via Nine-Point Laplacian (4EG9L) Iterative Method
Robot Path Planning Using Four Point-Explicit Group Via Nine-Point Laplacian (4EG9L) Iterative Method
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DOI：
10.1016/j.proeng.2012.07.160
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Saudi;J. Sulaiman
中科院分区：
文献类型：
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作者：
A. Saudi;J. Sulaiman
路径规划是一个重要的问题，因为它允许机器人从起点到达目标点。本文尝试用数值方法迭代求解机器人路径规划问题。它是基于使用拉普拉斯方程来计算位形空间中的移动的机器人的势函数。提出了一种求解机器人路径规划问题的块迭代法-四点显式组九点拉普拉斯算子法（4 EG 9 L）。实验表明，该算法能够在起点和终点之间生成平滑的路径。仿真结果表明，4 EG 9 L在生成移动的机器人运动路径时比以前的方法有更快的性能。
Path planning is an important issue as it allows a robot to get from start point to goal point. This work attempts to solve robot path planning problem iteratively using numerical technique. It is based on the use of Laplace's Equation to compute potential function in the configuration space of a mobile robot. This paper proposed a block iterative method known as Four Point-Explicit Group via Nine-Point Laplacian (4EG9L) for solving robot path planning problem. By employing a finite-difference technique, the experiment shows that it able to generate smooth path between the start and goal points. The simulation results show that 4EG9L performs faster than the previous method in generating path for mobile robot motion.