Paper Title
Indoor Path Planning Using Laplace's Equation Via Half-Sweep Arithmetic Mean (HSAM) Method

Abstract
This paper presents the application of a two-stage Half-Sweep Arithmetic Mean (HSAM) iterative method for computing the solution of Laplace's equation in two-dimensional space to solve the path planning problem in indoor environment. Several path planning simulations in a known indoor environment were conducted to examine the effectiveness of the proposed method. It is shown that the designed path planning algorithm is capable of generating smooth paths from various start and goal positions. Also, numerical results show that the proposed HSAM method converges much faster than the existing iterative methods, thus it drastically improves the overall performance of the path planning algorithm. Keywords - Path Planning, Half-Sweep Arithmetic Mean method, Laplace's equation, Harmonic functions.