 Application of a two-stage iterative technique to a path planning issue in an indoor setting

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A’Qilah Ahmad Dahalan, Azali Saudi, Jumat Sulaiman


Mobile robots are frequently associated with their ability to discover a collision-free pathway from any departure point to a certain destination in their surroundings. In this study, our attempts are to iteratively unravel a path planning issue via numerical techniques. Its foundation is a potential field approach that is driven by Laplace’s equation to stimulate the formation of a potential function over the designated regions. This potential field is naturally utilized as a guide in the global approach to robot path planning. In order to address the path planning challenges, this paper presented a two-stage iterative technique called Alternating Group Explicit (AGE) method. By utilizing a finite-difference technique, the analysis proves that a smooth path can be produced along the course. Additionally, the simulation outcomes demonstrate that the proposed numerical approach provides a faster solution than the earlier work.

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