Development of Path Tracking and Obstacle Avoidance based on an Advanced Potential Field Controller

Abstract

This paper proposes a new method that combines path tracking and obstacle avoidance for a differential drive mobile robot based on the Advanced Potential Field Controller (APFC) to increase stability and safety for robot operation. In conventional methods, the transition between path following and obstacle avoidance is typically achieved through a simple switch, which does not ensure the robot returns to the original path after avoiding the obstacle. The proposed methods integrate the Repulsive Potential Field (RPF) and Attractive Potential Field (APF), effectively solving this issue and enhancing smooth navigation in static environments. The RPF is utilized to steer the robot away from obstacles, while the APF is employed to redirect the robot back to its path after obstacle avoidance. The algorithm is verified on the designed robot, and experimental results provide efficiency in achieving autonomous robot navigation.