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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Main Authors:	Hamzah, Ahmad, Ahmad Nuur Fakrullah, Mohamad Pajeri, Nur Aqilah, Othman, Mohd Mawardi, Saari, Mohd Syakirin, Ramli
Format:	Conference or Workshop Item
Language:	English English
Published:	Springer Singapore 2019
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/24992/ http://umpir.ump.edu.my/id/eprint/24992/ http://umpir.ump.edu.my/id/eprint/24992/ 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

id	ump-24992
recordtype	eprints
spelling	ump-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 https://doi.org/10.1007/978-981-13-3708-6_16 DOI: https://doi.org/10.1007/978-981-13-3708-6_16
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
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
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
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
title	Analysis of mobile robot path planning with artificial potential fields
title_short	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_sort	analysis of mobile robot path planning with artificial potential fields
publisher	Springer Singapore
publishDate	2019
url	http://umpir.ump.edu.my/id/eprint/24992/ http://umpir.ump.edu.my/id/eprint/24992/ http://umpir.ump.edu.my/id/eprint/24992/ 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
first_indexed	2023-09-18T22:38:08Z
last_indexed	2023-09-18T22:38:08Z
_version_	1777416733897785344

Analysis of mobile robot path planning with artificial potential fields

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