MATLAB implementation of Artificial Potential Field

Running instruction:

• Run the main.m file from directory.
• User can defined objects like Robot, Goal, Obstacles in this file.

Requirements

• MATLAB

Features

• Single robot and goal object
• Two obstacle objects

Objective:

• The aim is to move mobile robot from start point to goal point while avoiding obstacle in path

Flow Chart Artificial Potential Field:

Attractive – Repulsive Potentials

Figure 2

Obstacle for Environment

Figure 3

Obstacles and Target in Environment

Mobile Robot Phases:

The Glide Phase

Initially, Mobile Robot(MR) will move in a straight line from start-point to End-point, unless and until the sensor detects an obstacle

The Maneuver Phase

The Mobile Robot(MR) enters the maneuver phase to “go around” the obstacle, as shown in Figure 4 below with the robot (R), obstacle (O) and target(T) in a line. Artificial Particles (AP) are placed, at equal angle intervals, on a circle of radius C t .

Figure 4

2D Grid

Selection Criteria for point

Cost Function

Algorithm Development (Steps and Input Data)

Limitations