Kinematic Modeling of a Six Wheeled Differential Drive Intelligent Robot and Potential Field Method to Attain Obstacle Avoidance Capability

Makhluk H. Prio, Fernando Rios

Research output: Contribution to book or proceedingConference articlepeer-review

1 Scopus citations

Abstract

This paper presents the kinematic modeling of a six-wheeled differential-drive mobile robot on the basis of potential field method to avoid obstacles. The position of the robot in the simulation is tested from an initial point to a final point in presence of a rectangular shaped obstacle and obstacle avoidance by the robot is observed. The entire kinematic modeling and testing are conducted using MATLAB Simulink.

Original languageEnglish
Title of host publication2019 IEEE SoutheastCon, SoutheastCon 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728101378
DOIs
StatePublished - Apr 2019
Event2019 IEEE SoutheastCon, SoutheastCon 2019 - Huntsville, United States
Duration: Apr 11 2019Apr 14 2019

Publication series

NameConference Proceedings - IEEE SOUTHEASTCON
Volume2019-April
ISSN (Print)1091-0050
ISSN (Electronic)1558-058X

Conference

Conference2019 IEEE SoutheastCon, SoutheastCon 2019
Country/TerritoryUnited States
CityHuntsville
Period04/11/1904/14/19

Keywords

  • Differential drive
  • kinematic modeling
  • obstacle avoidance
  • potential field
  • reactive control

Fingerprint

Dive into the research topics of 'Kinematic Modeling of a Six Wheeled Differential Drive Intelligent Robot and Potential Field Method to Attain Obstacle Avoidance Capability'. Together they form a unique fingerprint.

Cite this