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1 Poznan University of Technology Academic Journals. Electrical Engineering

1 2014

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Artifical potential fields algorithm for Mars rover path planning in an unknown enviroment

Wyrąbkiewicz K., Tarczewski T., Grzesiak L. M.

Poznan University of Technology Academic Journals. Electrical Engineering

2014

No. 80

183--189

In this paper artificial potential fields method applied to autonomous mobile robot - Mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. Inserted by graphic data input interface in top view mode obstacles are deployed in environment area. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented.