Abstract
In recent years, topics related to robotics have become one of the researching fields. In the meantime, intelligent mobile robots have great acceptance, but the control and navigation of these devices are very difficult, and the lack of dealing with fixed obstacles and avoiding them, due to safe and secure routing, is the basic requirement of these systems. In this paper, the modified artificial potential field (APF) method is proposed for that robot avoids collision with fixed obstacles and reaches the target in an optimal path; using this algorithm, the robot can run to the target in optimal environments without any problems by avoiding obstacles, and also using this algorithm, unlike the APF algorithm, the robot does not get stuck in the local minimum. We are looking for an appropriate cost function, with restrictions that we have, and the goal is to avoid obstacles, achieve the target, and do not stop the robot in local minimum. The previous method, APF algorithm, has advantages, such as the use of a simple math model, which is easy to understand and implement. However, this algorithm has many drawbacks; the major drawback of this problem is at the local minimum and the inaccessibility of the target when the obstacles are in the vicinity of the target. Therefore, in order to obtain a better result and to improve the shortcomings of the APF algorithm, this algorithm needs to be improved. Here, the obstacle avoidance planning algorithm is proposed based on the improvement of the artificial potential field algorithm to solve this local minimum problem. In the end, simulation results are evaluated using MATLAB software. The simulation results show that the proposed method is superior to the existing solution.
Highlights
An intelligent mobile robot must reach the designated targets at a specified time
The first algorithm that was proposed for the discussion of obstacle avoidance is the Bug1 algorithm
2.1 Methods The artificial potential field model suggested by Khatib [6] is a typical field model (Fig. 5)
Summary
An intelligent mobile robot must reach the designated targets at a specified time. The robot must determine its location relative to its objectives at each step and issue a suitable strategy to achieve its target. We have an automatic ship that we want to avoid collision with obstacles and to take the best possible route for a Mobile intelligent robot is a useful tool which can lead to the target and at the same time avoid obstacles facing it [1]. Bug, as shown, the robot completely bypassed the first object, and it leaves the first object and performs at the shortest distance from the target. This approach is very inefficient, but it ensures that the robot is reachable for any purpose.
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