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Analysis of mobile robot path planning with artificial potential fields

Hamzah, Ahmad and Ahmad Nuur Fakrullah, Mohamad Pajeri and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli (2018) Analysis of mobile robot path planning with artificial potential fields. In: 10th National Technical Seminar on Underwater System Technology (NUSYS) 2018, 26 - 27 September 2018 , Universiti Malaysia Pahang, Pekan. pp. 1-13.. (Unpublished)

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Abstract

This paper presents an analysis of a mobile robot path planning using potential field technique. The mobile robot has four wheels which can all be driven and steered independently. For simplicity, this paper assumes Acker-mann steering such that the vehicle can be approximated as a two-wheel system (commonly known as a bicycle model) for path planning purposes. The poten-tial field method that emphasizes on attractive potential field and repulsive po-tential field are proposed for analysis in this paper for path planning. The con-trol gains which represents the attractive and repulsive force are studied to de-termine the effectiveness of the proposed method. Based on the simulation re-sults, the robot able to avoid obstacle and at the same time arrived at the goal. The robot priorily do not pose any information on the environment and then moves until it reach its goal. Different cases of the potential fields and land-marks positions are also presented to determine the robot performance.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Mobile robot; Path Planning; Potential Field
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 24 Dec 2018 08:30
Last Modified: 24 Dec 2018 08:30
URI: http://umpir.ump.edu.my/id/eprint/22971
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