Trabalho em anais de evento
Application of path planning based on Artificial Potential Fields to mobile robots with distributed processing
PEIXOTO, K. P.; COUTINHO, P. H. S.; ARAUJO, A. C.; ALMEIDA, B. P. S.; SOUTO, F. H. S.; CHAGAS, T. P.; SCHNITMAN, L
Resumo
Resumo
This paper presents an autonomous nonholonomic differential drive mobile robot through processing entirely embedded. For this purpose, an Artificial Potential Field (APF) algorithm was used for local path planning and trajectory controller. The proposed APF algorithm uses vortex field to avoid null resultant potential field points and predicts future positions using odometry as an alternative to compensate processing times and serial communication lags. Furthermore, the robot has an isolated and decentralized processing architecture using Arduino Mega and Raspberry PI as embedded systems. Simulated and real experiments strongly suggest the effectiveness of the proposed path planning algorithm for real-time applications.
palavras-chave
Palavras-chave
path planningartificial potential fieldmobile robotsdistributed computingrobot navigation
Status
Published
links
Links e arquivos
Trabalho em anais de evento