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<span lang="EN-US">Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.</span>

The recitation of Quran verses according to the actual tajweed is obligatory and it must be accurate and precise in pronunciation. Hence, it should always be reviewed by an expert on the recitation of the Quran. Through the latest technology, this recitation review can be implemented through an application system and it is most appropriate in this current Covid-19 pandemic situation where system application online is deemed to be developed. In this empirical study, a recognition system so-called the Quranic Verse Recitation Recognition (QVR) system using PocketSphinx to convert the Quranic verse from Arabic sound to Roman text and determine the accuracy of reciters, has been developed. The Graphical User Interface (GUI) of the system with a user-friendly environment was designed using Microsoft Visual Basic 6 in an Ubuntu platform. A verse of surah al-Ikhlas has been chosen in this study and the data were collected by recording 855 audios as training data recorded by professional reciters. Another 105 audios were collected as testing data, to test the accuracy of the system. The results indicate that the system obtained a 100% accuracy with a 0.00% of word error rate (WER) for both training and testing data of the said audios via Quran Roman text. The system with automatic speech recognition (ASR) engine system demonstrates that it has been successfully designed and developed, and is significant to be extended further. Added, it will be improved with the addition of other Quran surahs.

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