Trajectory following and Obstacles Avoidance of a 4-wheeled Mobile Robot’s Movement

Antoska-Knights, Vesna and Gacovski, Zoran and Deskovski, Stojce (2016) Trajectory following and Obstacles Avoidance of a 4-wheeled Mobile Robot’s Movement. In: XIII International Conference - ETAI, Struga 2016.

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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. The mobile robot has 4-wheels configuration, electric drive on the rear vehicles, and is directed from the front wheels (Ackerman control algorithm). We have simulated a movement in a horizontal (2D) plane and the robot is modeled as a 3-DOF system (three degrees of freedom). We have considers a known environment where fixed potentials were assigned to the goal and the obstacles. When the obstacles are unknown the potential fields have to be adapted, as the robot moves and detect new 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 robots, Guidance and control, Trajectory planning, Potential fields method, Obstacle avoidance.

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

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