Navigating Mobile Robot in Finite Environment Using Potential Field Merging

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Provided by: Science & Engineering Research Support soCiety (SERSC)
Topic: Mobility
Format: PDF
Navigation can be defined as moving a robot to a defined objective and avoiding undesirable situations (collision and unsafe conditions) simultaneously. In this paper, a navigation technique based on Potential Field has been used to plan an optimal-safe path to pilot a mobile robot in known environment. The proposed paper is based on extracting path by merging information from two potential maps: security potential, pulling back robot from obstacles and slope potential attracting robot to target.
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