Mobile Robot Guidance in Presence of Obstacles, using the Potential Fields Method

Antoska-Knights, Vesna and Gacovski, Zoran and Deskovski, Stojce (2016) Mobile Robot Guidance in Presence of Obstacles, using the Potential Fields Method. In: 51st INTERNATIONAL SCIENTIFIC CONFERENCE ON INFORMATION, COMMUNICATION AND ENERGY SYSTEMS AND TECHNOLOGIES, Ohrid 2016.

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Official URL: https://icestconf.org/proceedings-of-papers/

Abstract

In this paper we have researched and simulated the mobile robot guidance and control in the environment full of obstacles, by using the potential fields method. We have considers a known environment where fixed potentials were assigned to the goal and the obstacles. We have applied a potential field’s method with one attraction potential assigned to the goal point and fixed repulsion 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. Keywords – Mobile Robot Guidance, Obstacle avoidance, Potential Field Method.

Item Type: Conference or Workshop Item (Paper)
Subjects: Scientific Fields (Frascati) > Natural sciences > Mathematics
Divisions: Faculty of Technology and Technical Sciences
Depositing User: Mr Jordan Martinovski
Date Deposited: 23 Nov 2019 11:20
Last Modified: 23 Nov 2019 11:20
URI: http://eprints.uklo.edu.mk/id/eprint/2080

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