Pathfinding algorithm based on rotated block AOR technique in structured environment

Abstract

Harmonic potential fields are commonly used as guidance in a global approach for self-directed robot pathfinding. These harmonic potentials are generated using Laplace's equation solutions. The computation of these harmonic potentials often requires the use of immense amounts of computing resources. This study introduces a numerical technique called Rotated Block Accelerated Over-Relaxation (AOR), also known as Explicit Decoupled Group AOR (EDGAOR), to deal with pathfinding problem. Several robot navigation simulations were performed in a static, structured, known indoor environment to validate the efficiency of the suggested approach. The paths generated by the simulations are shown using several different starting and target positions. The performance of the proposed approach in computing harmonic potentials for solving pathfinding problems is also discussed.

Keywords

• algorithms
• laplace's equation
• half-sweep iterative method
• numerical analysis
• collision free
• optimal path