Implementation of potential field method for mobile robot navigation in greenhouse environment with WSN support

2010 ◽  
Author(s):  
Simon Janos ◽  
Istvan Matijevics
Keyword(s):  
Mobile Robot ◽  
Potential Field ◽  
Robot Navigation ◽  
Field Method ◽  
Mobile Robot Navigation ◽  
Potential Field Method

scholarly journals An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot

2015 ◽  
Vol 15 (2) ◽  
pp. 181-191 ◽  
Author(s):  
Wenbai Chen ◽  
Xibao Wu ◽  
Yang Lu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Improved Method ◽  
Chaos Optimization ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

Abstract To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of “two-stage” chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on “Future Star” robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning.

Mobile Robot Obstacle Avoidance Using Potential Field Method

2014 ◽  
Vol 20 (10) ◽  
pp. 1976-1979
Author(s):  
Bayanjargal Baasandorj ◽  
Aamir Reyaz ◽  
Deok Jin Lee ◽  
Kil To Chong
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Field Method ◽  
Potential Field Method

scholarly journals Path Planning of Mobile Robot Using Fuzzy-Potential Field Method

2015 ◽  
Vol 11 (1) ◽  
pp. 32-41
Author(s):  
Alaa Ahmed ◽  
Turki Abdalla ◽  
Ali Abed
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Potential Field ◽  
Fuzzy Logic Controller ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Artificial Potential Field Method

This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller to solve drawbacks of artificial potential field method such as local minima problems, make an effective motion planner and improve the quality of the trajectory of mobile robot.

scholarly journals Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Weihao Li ◽  
Chenguang Yang ◽  
Yiming Jiang ◽  
Xiaofeng Liu ◽  
Chun-Yi Su
Keyword(s):  
Mobile Robot ◽  
Predictive Control ◽  
Potential Field ◽  
Kinematic Model ◽  
Field Method ◽  
Simulation Studies ◽  
Dynamics Model ◽  
Motion Constraints ◽  
Potential Field Method ◽  
Control Scheme

In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.

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