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Self-directed Mobile Robot Path Finding in Static Indoor Environment by Explicit Group Modified AOR Iteration

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Recent Trends in Mechatronics Towards Industry 4.0

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 730))

Abstract

The main concerns in handling a self-directed path finding is that we must address the obstacle avoidance issue in which the mobile robot has to create a bump-free route in order to surpass the efficiency of its movement from any departure position to the destination position in the areas concerned. This study seeks to solve the problem by elucidating it iteratively through a numerical approach. The solution builds on the potential field approach, that uses the equation of Laplace to restrict the formation of potential functions across regions in which the mobile robot operates. This article proposes an iterative method for the resolution of mobile robot path finding problem, namely Explicit Group Modified Accelerated Over-Relaxation (EGMAOR). The experiment demonstrates that, by applying a finite difference method, the mobile robot is competent to produce a collision-free trail from any start to specific target point. In addition, the findings of the model verified that numerical techniques could provide an accelerated solution and have produced smoother path than earlier work on the same issue.

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Acknowledgements

This research was supported by Ministry of Education (MOE) through Fundamental Research Grant Scheme (FRGS/1/2018/ICT02/UPNM/03/1). The researchers declare that the publication of this study has no conflict of interest.

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Authors and Affiliations

  1. Centre for Defence Foundation Studies, National Defence University of Malaysia, Kuala Lumpur, Malaysia

    A. A. Dahalan

  2. Faculty of Computing and Informatics, Universiti Malaysia Sabah, Kota Kinabalu, Sabah, Malaysia

    A. Saudi

Authors
  1. A. A. Dahalan
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  2. A. Saudi
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Corresponding author

Correspondence to A. A. Dahalan .

Editor information

Editors and Affiliations

  1. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Ahmad Fakhri Ab. Nasir

  2. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Ahmad Najmuddin Ibrahim

  3. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Ismayuzri Ishak

  4. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Nafrizuan Mat Yahya

  5. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Muhammad Aizzat Zakaria

  6. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, Pekan, Malaysia

    Anwar P. P. Abdul Majeed

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Dahalan, A.A., Saudi, A. (2022). Self-directed Mobile Robot Path Finding in Static Indoor Environment by Explicit Group Modified AOR Iteration. In: Ab. Nasir, A.F., Ibrahim, A.N., Ishak, I., Mat Yahya, N., Zakaria, M.A., P. P. Abdul Majeed, A. (eds) Recent Trends in Mechatronics Towards Industry 4.0. Lecture Notes in Electrical Engineering, vol 730. Springer, Singapore. https://doi.org/10.1007/978-981-33-4597-3_3

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