Robot Path Planning with EGSOR Iterative Method using Laplacian Behaviour-Based Control (LBBC)

This paper proposed a robust searching algorithm to generate path planning for mobile robot. The searching algorithm employs Laplacian Behaviour-Based Control (LBBC) during space exploration of the environment. The LBBC make use of the potential function in the configuration space to guide its exploration. Laplace’s equation was used to represent the potential function in the configuration space. Consequently, the gradient of the potential function would be used by the searching algorithm. In complex environment, however, it suffers from the occurrence of flat region with no appreciable gradient, which result in the difficulty for the searching algorithm to generate path. The LBBC would enable the searching algorithm to generate path successfully even with the occurrence of this flat region. The solution to Laplace’s equation is computed via Explicit Group Successive OverRelaxation (EGSOR) iterative method for rapid computation. Keywords-Laplacian Behaviour-Based Control (LBBC); Robot path planning; Explicit Group Successive Over-Relaxation (EGSOR); Laplace’s equation