Obstacles Avoidance Algorithm for Mobile Robots, Using the Potential Fields Method

Autor:	Zoran Gacovski, Vesna Antoska-Knights, Stojce Deskovski
Rok vydání:	2017
Předmět:	Computer Science::Robotics Computer science Control theory Obstacle Obstacle avoidance Potential field Robot Point (geometry) Mobile robot Electrical and Electronic Engineering Tracking (particle physics) Electric drive
Zdroj:	Universal Journal of Electrical and Electronic Engineering. 5:75-84
ISSN:	2332-3299 2332-3280
DOI:	10.13189/ujeee.2017.050402
Popis:	In this paper - a mobile robot guidance and control has been researched in the environment full of obstacles, by using the potential fields method. The mobile robot has 4-wheels configuration, electric drive on the rear vehicles, and is directed from the front wheels (Ackerman control algorithm). A known environment has been considered, where fixed potentials were assigned to the goal and the obstacles. When the obstacles are unknown - the potential fields have to be applied, as the robot moves and detect new obstacles. A potential field's method was applied with one attraction potential assigned to the goal point and fixed rejection points assigned to the obstacles. It moves successfully within different obstacle configurations (closely spaced obstacles), and it solves the problem with a local minimum occurrence. The simulation results showed small and stable tracking errors along 2 axes.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::c4848ee6286314a5eb19719b2ae9d195 https://doi.org/10.13189/ujeee.2017.050402 Zobrazit plný text záznamu