Robotics: Robotic Ship Navigation Using Potential Fields Method of Obstacle Avoidance

by Marc Punzirudu

Submitted : Fall 2010

A virtual obstacle course was overlaid with a grid and described using cartesian coordnates. A robot was given a starting point and made to navigate towards a goal, avoiding obstacles if they appear. The goal has an positive attraction force, and the obstacles have a negative attraction force. The robots path was then planned using the summation of vector forces from the obstacles and the goal, to determine the magnitude and direction of movement. This was first done with stationary obstacles, and then again with one of the obstacles in motion. The robot reaching the goal is the satisfactory end condition for this experiment

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