Laplacian Behaviour-Based Control for Robot Path Planning using Full-Sweep Successive Over-Relaxation via Nine-Point Laplacian (FSSOR9L)
Azali Saudi, Jumat Sulaiman

Abstract
This paper proposed a behaviour-based paradigm approach to the path planning problem of a mobile robot utilizing fast iteration technique to compute the configuration space rapidly. The technique employs Laplacian Behaviour-Based Control (LBBC) for robust exploration of the configuration space of the robot. The LBBC relies on Laplace’s equation that constraint the potential function in the configuration space of the robot. The solution of Laplace’s equation which represents the potential values in the configuration space is solved using Full-Sweep Successive Over-Relaxation via Nine-Point Laplacian (FSSOR9L) for fast computation. Several experiments were carried out to demonstrate the effectiveness of LBBC using fast FSSOR9L iterative method to compute the potential values rapidly and generate path for the robot successfully even in complex environment.

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