Numerical evaluation of mobile robot navigation in static indoor environment via EGAOR Iteration

摘要

One of the key issues in mobile robot navigation is the ability for the robot to move from an arbitrary start location to a specified goal location without colliding with any obstacles while traveling, also known as mobile robot path planning problem. In this paper, however, we examined the performance of a robust searching algorithm that relies on the use of harmonic potentials of the environment to generate smooth and safe path for mobile robot navigation in a static known indoor environment. The harmonic potentials will be discretized by using Laplacian's operator to form a system of algebraic approximation equations. This algebraic linear system will be computed via 4-Point Explicit Group Accelerated Over-Relaxation (4-EGAOR) iterative method for rapid computation. The performance of the proposed algorithm will then be compared and analyzed against the existing algorithms in terms of number of iterations and execution time. The result shows that the proposed algorithm performed better than the existing methods.