Development of a mobile robot platform
Rickard Nyberg · Epubl LTU · 2014
The aim of this thesis is to present a transformed version of an already existing obstacle avoidancemethod for mobile robots; Artificial potential field. In this method the robot can bethought of a charged particle which moves in a field where the obstacles have the same chargeas the robot and thus repel it and a goal position has the opposite charge and thus attracts therobot. The focus lies in transforming this method for robot navigation in unknown environments,utilizing the kinect as a sensor and to account for obstacle height in the calculations.The final algorithm was tested with an mobile robotic platform in several obstacle coursesand the results show a satisfactory behavior. The robot avoids larger obstacles and can chooseto ignore lower ones and is attracted to more open areas in the field of view.