Indonesian Journal of Electrical Engineering and Computer Science Vol. 22, No. 2, May 2021, pp. 1116~1123 ISSN: 2502-4752, DOI: 10.11591/ijeecs.v22.i2.pp1116-1123  1116 Journal homepage: http://ijeecs.iaescore.com Autonomous path planning through application of rotated two- parameter overrelaxation 9-point Laplacian iteration technique W. K. Ling 1 , A. A. Dahalan 2 , A. Saudi 3 1,2 Department of Mathematics, Universiti Pertahanan Nasional Malaysia (UPNM), Malaysia 3 Faculty of Computing and Informatics, Universiti Malaysia Sabah, Malaysia Article Info ABSTRACT Article history: Received Jan 14, 2021 Revised Mar 12, 2021 Accepted Mar 29, 2021 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 proposes 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 function is 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 it also offers complete path planning algorithm. Its performance is tested against its predecessor iteration technique. Results show that HSTOR-9P iteration technique enables path construction in a lower number of iterations, thus, it performs better than its predecessors. Keywords: Collision free Half-sweep Mobile robot path searching Nine-point Laplace operator Optimal path This is an open access article under the CC BY-SA license. Corresponding Author: W. K. Ling Department of Mathematics Universiti Pertahanan Nasional Malaysia 57000, Kuala Lumpur, Malaysia Email: 3191191@alfateh.upnm.edu.my, a.qilah@upnm.edu.my 1. INTRODUCTION Throughout the years in robotics development, path planning for robots has been a crucial study due to its importance. In the past, researchers have tried various methods to make path navigation in robotics more feasible [1], [2]. Each of these methods has its own advantages and drawbacks, as the environments the robot needs to traverse in are never uniform in terms of their offer in challenges and circumstances. Recent studies such as Handayani et al. [3] who conducted path planning analysis using swarm robots, Abdulredah and Kadhim [4] who integrated the method known as extended Kalman filter (EKF) with simultaneous localisation and mapping (SLAM) algorithm, and Das et al. [5] who developed a path planning algorithm known as OperativeCriticalPointBug (OCPB). Constant research gives opportunity for new findings that are beneficial for improvement. Computational load in autonomous path planning is still the crucial issue [6], therefore, a reduction is a must if efficiency is the desired output. In this study, the numerical method called HSTOR-9P is employed to efficiently solve path planning in a static environment. This is an iterative method and is based on the finite difference approximation. Previously, it is shown that the two-parameter overrelaxation (TOR) method which used the standard 5-point Laplacian operator provides promising path planning performance [7]. Thus, by implementing Half-Sweep (HS) approach and the 9-point Laplacian operator with TOR, the results are expected to be more superior. The numerical analysis in this study is based