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Potential field method to navigate several mobile robots

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Abstract

Navigation of mobile robots remains one of the most challenging functions to carry out. Potential Field Method (PFM) is rapidly gaining popularity in navigation and obstacle avoidance applications for mobile robots because of its elegance. Here a modified potential field method for robots navigation has been described. The developed potential field function takes care of both obstacles and targets. The final aim of the robots is to reach some pre-defined targets. The new potential function can configure a free space, which is free from any local minima irrespective of number of repulsive nodes (obstacles) in the configured space. There is a unique global minimum for an attractive node (target) whose region of attraction extends over the whole free space. Simulation results show that the proposed potential field method is suitable for navigation of several mobile robots in complex and unknown environments.

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Authors and Affiliations

  1. Department of Mechanical Engineering, N.I.T., Rourkela, Orissa, 769008, India

    Saroj Kumar Pradhan, Dayal Ramakrushna Parhi & Rabindra Kumar Behera

  2. Department of Electrical Engineering, N. I. T., Rourkela, Orissa, 769008, India

    Anup Kumar Panda

Authors
  1. Saroj Kumar Pradhan
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  2. Dayal Ramakrushna Parhi
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  3. Anup Kumar Panda
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  4. Rabindra Kumar Behera
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Corresponding author

Correspondence to Saroj Kumar Pradhan.

Additional information

Saroj Kumar Pradhan is faculty of Mechanical Engineering Department with N.I.T., Hamirpur, HP, India. He has received his B.E. degree in Mechanical Engineering from Utkal University and M.E. in Machine Design and Analysis from NIT Rourkela. He has published more than 17 technical papers in international journals and conference proceedings. His areas of research include mobile robots navigation and vibration of multilayred beams.

Dayal R. Parhi is working as Assistant Professor at NIT Rourkela, India. He has obtained his first Ph.D. degree in “Mobile Robotics” from United Kingdom and Second Ph.D. in “Mechanical Vibration” from India. He has visited CMU, USA as a “Visiting Scientist” in the field of “Mobile Robotics”. His main areas of current research are “Robotics” and “Mechanical Vibration”. He is supervising five Ph.D. students in the fields of Robotics and Vibration. Email: dayalparhi@yahoo.com.

Anup Kumar Panda Received his M.Tech degree from IIT, Kharagpur in 1993 and Ph.D. degree from Utkal University in 2001. He is currently an assistant professor in the Department of Electrical Engineering at National Institute of Technology, Rourkela, India. His areas of research include robotics, Machine Drives, harmonics and power quality. He has published more than 30 technical papers in journals and conference proceedings. He is now involved in two R&D projects funded by Government of India.

R. K. Behera is a Senior Lecturer of Mechanical Engineering at National Institute of Technology, Rourkela, India. He has been working as lecturer for more than 10 years. He obtained his BE degree from IGIT, Sarang, of Utkal University. He obtained his ME and Ph.D degrees, both in the field of mechanical engineering from NIT Rourkela.

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Pradhan, S.K., Parhi, D.R., Panda, A.K. et al. Potential field method to navigate several mobile robots. Appl Intell 25, 321–333 (2006). https://doi.org/10.1007/s10489-006-0110-3

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