Autonomous Navigation on Modified AOR Iterative Method in Static Indoor Environment

Abstract

One of the main issues when dealing with mobile robot navigation is that we have to resolve the obstacle avoidance problem, where when moving from a starting point to the goal point, the mobile robot will have to generate a collision-free path in order ensure that it can move efficiently in the environment. In this study, we attempt to resolve the issue by solving it iteratively via numerical technique. This solution is based on the potential field method that utilizes the Laplace's equation to constrain the generation of potential functions over the regions in the configuration space where the mobile robot operates in. This paper proposed Modified Accelerated Over-Relaxation (MAOR) iterative method for solving robot path planning problem. Through the application of finite-difference technique in it, the experiment shows that the mobile robot is able to generate a smooth path from starting point to goal point. Furthermore, the results obtained from the simulation has shown that this numerical method was able to perform faster solution and generated smoother path comparing the previous works on the similar problem.