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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 (2019) Analysis of mobile robot path planning with artificial potential fields. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018, 27-28 September 2018 , Universiti Malaysia Pahang. pp. 181-196., 538. ISBN 978-981-13-3708-6

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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 Ackermann steering such that the vehicle can be approximated as a two-wheel system (commonly known as a bicycle model) for path planning purposes. The potential field method that emphasizes on attractive potential field and repulsive potential field are proposed for analysis in this paper for path planning. The control gains which represents the attractive and repulsive force are studied to determine the effectiveness of the proposed method. Based on the simulation results, 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 landmarks positions are also presented to determine the robot performance.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Part of the Lecture Notes in Electrical Engineering book series
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: 12 Nov 2019 04:40
Last Modified: 27 Nov 2019 02:09
URI: http://umpir.ump.edu.my/id/eprint/24992
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