Obstacle Avoidance for Two-wheeled Mobile Robot with Tracking of Avoidance Path Planning Artificial Potential Method

Abstract

This paper uses the potential function to propose an obstacle avoidance method for a two-wheeled mobile robot with an artificial potential field and the PurePursuit. The proposed control is that the robot's path is planned by referring to its posture changes, escaping from a local minimum point. The efficiency of our proposed method is demonstrated in a numerical simulation and experiments by an experimental robot.