Path planning of indoor mobile robot using harmonic potentials via half-sweep modified SOR method

摘要

This paper discusses the findings of a study that examined the effectiveness of the combined method based on the Half-Sweep (HS) iteration and the Modified Successive OverRelaxation (MSOR) method in solving path planning problems faced by a mobile robot when operating in indoor environments. This method used the Laplace's equation to compute the distribution of potential values in the simulated environments that helped generate the safest path along which the robot would be able to move from a specified starting position to a goal position without the risk of colluding with any obstacles present in the environments. The findings confirmed that the proposed HSMSOR was the most effective method compared to other existing iterative methods, given that it performed the lowest number of iterations and used the least amount of computational time.