PATH PLANNING FOR MOBILE ROBOT WITH HALF-SWEEP SUCCESSIVE OVER- RELAXATION (HSSOR) ITERATIVE METHOD

This paper describes our work in solving path planning problem for mobile robot by using harmonic functions to generate path in the configuration space. Harmonic functions are known to have an advantage as a global potential function in the potential field based approach for robot path planning. However, an immense amount of computations are required as the size of the environment get bigger. This work attempts to speed up the computation by solving the harmonic functions with faster solver using Half-Sweep Successive Over-Relaxation (HSSOR) iterative method. The efficiency of this approach is shown by comparing its performance with the previous method.

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