A New Approach Based in Potential Fields with Obstacles Avoidance for Mobile Robots

摘要

This paper proposes a new approach for the method of path planning with obstacles avoidance based on potential fields, also known as APF method. This new approach consists on a way to overcome the problem of local minima, present in the APF method, assuring a more effective path planning. It is used a mobile robot with differential drive as a base for testing, which is applied a kinematic control, allowing the robot drives a previously planned path to reach the goal point and avoid automatically the obstacles arranged on the environment.