Eventos Anais de eventos
CONEM 2018
X Congresso Nacional de Engenharia Mecânica
Application of path planning based on Artificial Potential Fields to mobile robots with distributed processing
Submission Author:
Kamilla Pereira Peixoto , BA
Co-Authors:
Kamilla Pereira Peixoto, Pedro Henrique Silva Coutinho, Allan Cavalcante Araújo, Berguem Paula Santos Almeida, Thiago Chagas
Presenter: Kamilla Pereira Peixoto
doi://10.26678/ABCM.CONEM2018.CON18-1105
Abstract
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.
Keywords
Nonholonomic Robot, Autonomous Robot, Embedded Processing, Path Control
