Analysis of mobile robot path planning with artificial potential fields
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 (...
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| Format: | Conference or Workshop Item |
| Language: | en en |
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Springer Singapore
2019
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| Online Access: | http://umpir.ump.edu.my/id/eprint/24992/1/36.%20Analysis%20of%20mobile%20robot%20path%20planning%20with%20artificial%20potential%20fields.pdf http://umpir.ump.edu.my/id/eprint/24992/2/36.1%20Analysis%20of%20mobile%20robot%20path%20planning%20with%20artificial%20potential%20fields.pdf http://umpir.ump.edu.my/id/eprint/24992/ https://doi.org/10.1007/978-981-13-3708-6_16 |
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| author | Hamzah, Ahmad Ahmad Nuur Fakrullah, Mohamad Pajeri Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli |
| author_facet | Hamzah, Ahmad Ahmad Nuur Fakrullah, Mohamad Pajeri Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli |
| author_sort | Hamzah, Ahmad |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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. |
| format | Conference or Workshop Item |
| id | my.ump.umpir.24992 |
| institution | Universiti Malaysia Pahang |
| language | en en |
| publishDate | 2019 |
| publisher | Springer Singapore |
| record_format | eprints |
| spelling | my.ump.umpir.249922019-11-27T02:09:33Z http://umpir.ump.edu.my/id/eprint/24992/ Analysis of mobile robot path planning with artificial potential fields Hamzah, Ahmad Ahmad Nuur Fakrullah, Mohamad Pajeri Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering 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. Springer Singapore 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24992/1/36.%20Analysis%20of%20mobile%20robot%20path%20planning%20with%20artificial%20potential%20fields.pdf pdf en http://umpir.ump.edu.my/id/eprint/24992/2/36.1%20Analysis%20of%20mobile%20robot%20path%20planning%20with%20artificial%20potential%20fields.pdf 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 (Published) https://doi.org/10.1007/978-981-13-3708-6_16 DOI: https://doi.org/10.1007/978-981-13-3708-6_16 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Ahmad Nuur Fakrullah, Mohamad Pajeri Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Analysis of mobile robot path planning with artificial potential fields |
| title | Analysis of mobile robot path planning with artificial potential fields |
| title_full | Analysis of mobile robot path planning with artificial potential fields |
| title_fullStr | Analysis of mobile robot path planning with artificial potential fields |
| title_full_unstemmed | Analysis of mobile robot path planning with artificial potential fields |
| title_short | Analysis of mobile robot path planning with artificial potential fields |
| title_sort | analysis of mobile robot path planning with artificial potential fields |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/24992/1/36.%20Analysis%20of%20mobile%20robot%20path%20planning%20with%20artificial%20potential%20fields.pdf http://umpir.ump.edu.my/id/eprint/24992/2/36.1%20Analysis%20of%20mobile%20robot%20path%20planning%20with%20artificial%20potential%20fields.pdf http://umpir.ump.edu.my/id/eprint/24992/ https://doi.org/10.1007/978-981-13-3708-6_16 |
| url_provider | http://umpir.ump.edu.my/ |