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

Antoska-Knights, Vesna and Gacovski, Zoran and Deskovski, Stojce (2017) Obstacles Avoidance Algorithm for Mobile Robots, Using the Potential Fields Method. Universal Journal of Electrical and Electronic Engineering.

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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
Keywords Mobile Robots, Guidance and Control,
Trajectory Planning, Potential Fields Method, Obstacle

Item Type: Article
Subjects: Scientific Fields (Frascati) > Natural sciences > Mathematics
Divisions: Faculty of Technology and Technical Sciences
Depositing User: Mr Jordan Martinovski
Date Deposited: 23 Nov 2019 11:19
Last Modified: 23 Nov 2019 11:19
URI: https://eprints.uklo.edu.mk/id/eprint/2063

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