Red-Black Strategy for Mobile Robot Path Planning

Mobile robots often find themselves in a situation where they must find a collision-free path from start to goal point in their environment, subject to constraints posed by environment boundaries and obstacles. In this work, we conduct and experiment for mobile robot path planning based on potential...

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Bibliographic Details
Published inWorld Congress on Engineering 2012. July 4-6, 2012. London, UK Vol. 2182; pp. 2215 - 2219
Main Authors Saudi, Azali, Sulaiman, Jumat
Format Journal Article
LanguageEnglish
Published 01.03.2010
Subjects
Boundaries
Finite difference method
Mathematical analysis
Mathematical models
Path planning
Potential fields
Robots
Strategy
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ISSN2078-0958

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Summary:Mobile robots often find themselves in a situation where they must find a collision-free path from start to goal point in their environment, subject to constraints posed by environment boundaries and obstacles. In this work, we conduct and experiment for mobile robot path planning based on potential field method that relies on the use of Laplace's Equation to constrain the generation of a potential function over regions of the configuration space of a mobile point-robot. An experiment based on finite-difference techniques shows a local minima-free motion with smooth path between the start and goal points. This work introduces the first application of a numerical technique, known as Red-Black Half-Sweep Successive Over-Relaxation (HSSOR-RB) iterative method, for mobile robot path planning. The results show that HSSOR-RB provides great potential for real application of mobile robot path generation.
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ISSN:2078-0958