@article{Dahalan2023, 
author = {A'qilah Ahmad Dahalan and Azali Saudi},
title = {An iterative technique for solving path planning in identified environments by using a skewed block accelerated algorithm},
year = {2023},
journal = {AIMS Mathematics},
volume = {8},
number = {3},
pages = {5725-5744},
keywords = {numerical analysis, obstacle avoidance, accelerated method, path finding, rotated iterative scheme, Laplace's equation},
url = {https://www.sciopen.com/article/10.3934/math.2023288},
doi = {10.3934/math.2023288},
abstract = {Currently, designing path-planning concepts for autonomous robot systems remains a topic of high interest. This work applies computational analysis through a numerical approach to deal with the path-planning problem with obstacle avoidance over a robot simulation. Based on the potential field produced by Laplace's equation, the formation of a potential function throughout the simulation configuration regions is obtained. This potential field is typically employed as a guide in the global approach of robot path-planning. An extended variant of the over-relaxation technique, namely the skewed block two-parameter over relaxation (SBTOR), otherwise known as the explicit decoupled group two-parameter over relaxation method, is presented to obtain the potential field that will be used for solving the path-planning problem. Experimental results with a robot simulator are presented to demonstrate the performance of the proposed approach on computing the harmonic potential for solving the path-planning problem. In addition to successfully validating pathways generated from various locations, it is also demonstrated that SBTOR outperforms existing over-relaxation algorithms in terms of the number of iterations, as well as the execution time.}
}