Mobile Robot Motion Planning Based On Notion Of Artificial Potential Field (APF)

Faris Adam , Mohd Ghazali (2013) Mobile Robot Motion Planning Based On Notion Of Artificial Potential Field (APF). Project Report. UTeM, Melaka. (Submitted)

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Abstract

Nowadays, mobile robot has been used in many sectors for example factory, household, and also mine clearance. Different kind of sectors shows that the robot needs to work in different kind of environment which of course consists of different obstacles. In order to ensure the robot to work in proper manner by successfully reach its target without colliding with the obstacles, the good algorithms should be created for. The main problem of mobile robot behavior is to face the variety of objects in the real environment. This report will design and develop a mobile robot algorithm that can seek for target in environment consists of different kind of obstacles by using the previous method that has been used by the researchers. All of the algorithms that have been design are being implemented in MobotSim Software. There are a problems regarding the limit cycle that arose during the analysis and the design algorithm to solve it has been proposed. For the future works, the proposed solution for the limit cycle needs to be implemented in MobotSim Software and analyze the results. The report for this semester consists of the Introductions, Literature Review, Methodology and Results.

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