Perancangan laluan robot menggunakan fungsi harmonik melalui kaedah lelaran sapuan suku

Saudi Azali, Sulaiman Jumat,

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Kertas kajian ini mengemukakan aplikasi fungsi harmonik dalam menyelesaikan masalah perancangan laluan robot. Fungsi harmonik diperolehi dengan menyelesaikan persamaan Laplace. Dalam kajian ini, fungsi-fungsi harmonik bertindak sebagai nilai-nilai potensi pada setiap titik dalam persekitaran robot. Nilai-nilai potensi ini kemudiannya digunakan untuk mencari laluan dari titik mula sehinggalah ke titik destinasi yang telah ditetapkan. Bagi mendapatkan fungsi-fungsi harmonik ini, pendekatan yang paling biasa digunakan adalah kaedah beza terhingga iaitu lelaran Jacobi, Gauss-Seidel dan Successive Over-relaxation (SOR). Namun, kaedah-kaedah lelaran yang lazim ini terlalu perlahan, terutamanya apabila melibatkan persekitaran yang luas. Oleh itu, kajian ini mencadangkan kaedah yang lebih pantas menggunakan gabungan teknik lelaran sapuan suku dengan lelaran SOR. Keputusan ujikaji menunjukkan kaedah-kaedah yang dicadangkan ini telah berjaya mengurangkan masa pengiraan fungsi-fungsi harmonik secara drastik. Ini secara langsung telah meningkatkan prestasi keseluruhan algoritma perancangan laluan, terutamanya aspek masa perlaksanaan.

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