Open Access Open Access  Restricted Access Subscription or Fee Access

Application of Harmonic Functions through Modified SOR (MSOR) Method for Robot Path Planning in Indoor Structured Environment

Azali Saudi, Jumat Sulaiman


This paper presents the application of harmonic functions computed through MSOR iterative method to solve path planning problem in indoor environment. It is known that harmonic functions are very suitable to be used as a global approach for robot path planning. There exist a number of numerical techniques for obtaining the harmonic functions. This paper conducts an investigation of using MSOR method to discover its efficiency in computing the harmonic functions. It is found that MSOR method offer faster approach to the computation of harmonic functions, thus improve the overall performance of the path planning


Robot path planning, Modified Successive Overrelaxation (MSOR) method, harmonic functions, Laplace’s equation, finite difference method.

Full Text:


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.