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Robot Path Planning using Laplacian Behaviour-Based Control via Half-Sweep Gauss-Seidel (LBBC-HSGS) Iterative Method

Azali Saudi, Jumat Sulaiman

Abstract


Path planning for mobile robots, particularly in the case where the environment is known, is a well studied problem. This study proposed a robot path planning technique that employs Laplacian Behaviour-Based Control (LBBC) for space exploration which relies on the use of Laplace’s Equation to constrain the generation of the potential function of the configuration space of a mobile point-robot. Numerical technique using half-sweep iteration via Half-Sweep Gauss-Seidel (HSGS) iterative method is used to provide a very fast computation platform in solving the Laplace’s equation that represent the potential values of the configuration space.

Keywords


Robot path planning, Laplacian Behaviour-Based Control (LBBC), Half-Sweep Gauss-Seidel (HSGS), Laplace’s equation

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