Autonomous path planning through application of rotated two-parameter overrelaxation 9-point Laplacian iteration technique

Autonomous path navigation is one of the important studies in robotics since a robot’s ability to navigate through an environment brings about many advancements with it. This paper suggests the iteration technique called half-sweep two parameter overrelaxation 9-point laplacian (HSTOR-9P) to be applied on autonomous path navigation and aims to investigate its effectiveness in performing computation for path planning in an indoor static environment. This iteration technique is a harmonic function that solves the Laplace’s equation where the modelling of the environment is based on. The harmonic functions are an appropriate method to be used on autonomous path planning because it satisfies the min-max principle, therefore avoiding the occurrence of local minima which traps robot’s movements, and that it offers complete path planning algorithm. Its performance is tested against its predecessor iteration technique. Results shown that HSTOR-9P iteration technique enables path construction in a lower number of iterations, thus, performs better than its predecessors.

Precise positioning is known as a loxodrome on a trajectory on navigation measurements with intense noise

The article proposes a method of improving the accuracy of determining the current coordinates of a moving object moving along a loxodromic trajectory by analytical three-dimensional projection of its coordinates determined by navigation measurements in conditions of intense interference on the trajectory of its true motion. The results of testing the efficiency of the proposed method, which was carried out by numerical simulation of the algorithms described in the work of determining the coordinates of the object on the loxodromic trajectory on noisy navigation measurements. The results indicates the possibility of effective use of the proposed approach. Keywords: analytical three-dimensional projection coordinates, geographic information systems, interference, known as a loxodrome path, navigation measurement.