A Potential Field Simulation Study for Mobile Robot Path Planning in Dynamic Environments
Mohammad Hamdan Garibeh, Mohammad A. Jaradat, Nathir A. Rawashdeh · 2019
A simulation study for path planning of mobile robots in a 2D space using the potential field method is presented. The mathematical analysis represents the attractive force between the robot and the target, as well as the repulsive forces between robot and obstacles. The forces are decomposed to their resultant x-y components in 2D for simulation implementation purposes. These two forces control the motion of the mobile robot to safely avoid any obstacle within the robot environment and track the dynamic target. The simulations for many cases were carried out using the resultant forces. The integration between the robot's equations of motion for constant acceleration, Newton's second law, and the potential field forces are illustrated for simulation implementation purposes.