Pathfinding for Mobile Robot Navigation by Exerting the Quarter-Sweep Modified Accelerated Overrelaxation (QSMAOR) Iterative Approach via the Laplacian Operator

Algorithm 2

QSMAOR method.

1 Setup the configuration space with specified start and goal position.

2 Initialising starting point , , .

3 For all non-occupied red node points using Equation (17a), calculate

4 For all non-occupied black node points using Equation (17b), calculate

5 Compute the remaining non-occupied node points of type via direct method by using equation

and node points of type using equation.

6 Check the convergence test for . If yes, go to next step. Else back to step (3).

7 Execute GDS to generate path from start to target position.