Obstacles avoidance algorithm for mobile robots, using the potential fields method

Abstract

In this paper - a mobile robot guidance and control has been researched in the environment full of obstacles, by using the potential fields method. The mobile robot has 4-wheels configuration, electric drive on the rear vehicles, and is directed from the front wheels (Ackerman control algorithm). A known environment has been considered, where fixed potentials were assigned to the goal and the obstacles. When the obstacles are unknown - the potential fields have to be applied, as the robot moves and detect new obstacles. A potential field's method was applied with one attraction potential assigned to the goal point and fixed rejection points assigned to the obstacles. It moves successfully within different obstacle configurations (closely spaced obstacles), and it solves the problem with a local minimum occurrence. The simulation results showed small and stable tracking errors along 2 axes.