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An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot

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@article{IJASEIT832,
   author = {Hendri Himawan Triharminto and Oyas Wahyunggoro and Teguh Bharata Adji and Adha Imam Cahyadi},
   title = {An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot},
   journal = {International Journal on Advanced Science, Engineering and Information Technology},
   volume = {6},
   number = {4},
   year = {2016},
   pages = {410--418},
   keywords = {Artificial Potential Field; kinematic control; nonholonomic},
   abstract = {

In this paper, path planning which is based on Artificial Potential Field (APF) and the kinematic based control is integrated in order to solve an issue in the APF. Usually, the APF assumes the robot is modeled as a point mass. It means that the robot can move in any direction and neglect the nonholonomic constraint. In order to solve such a problem, the APF should be considered as part of the control system. This research proposed an approach integrating APF and control system under nonholonomic constraint. Naturally, the force of the APF can be used as linear velocity in the control system. Then, waypoint of APF is used as equilibrium point of kinematic control. In order to validate the proposed method, the experimental setup conducted on loop simulation. The scenario is that the robot moves along the certain trajectory to reach the goal point. The obstacle was set in between the robot and the goal point. The initial, goal, and the obstacles are set randomly.  The experiments show that the integration of the proposed method can be implemented successfully. The real obstacle avoidance method and fulfilling the nonholonomic constraint are the proof that the method is running well. The results show that the integrated proposed method meets convergent and stable.

},    issn = {2088-5334},    publisher = {INSIGHT - Indonesian Society for Knowledge and Human Development},    url = {http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=832},    doi = {10.18517/ijaseit.6.4.832} }

EndNote

%A Triharminto, Hendri Himawan
%A Wahyunggoro, Oyas
%A Adji, Teguh Bharata
%A Cahyadi, Adha Imam
%D 2016
%T An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot
%B 2016
%9 Artificial Potential Field; kinematic control; nonholonomic
%! An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot
%K Artificial Potential Field; kinematic control; nonholonomic
%X 

In this paper, path planning which is based on Artificial Potential Field (APF) and the kinematic based control is integrated in order to solve an issue in the APF. Usually, the APF assumes the robot is modeled as a point mass. It means that the robot can move in any direction and neglect the nonholonomic constraint. In order to solve such a problem, the APF should be considered as part of the control system. This research proposed an approach integrating APF and control system under nonholonomic constraint. Naturally, the force of the APF can be used as linear velocity in the control system. Then, waypoint of APF is used as equilibrium point of kinematic control. In order to validate the proposed method, the experimental setup conducted on loop simulation. The scenario is that the robot moves along the certain trajectory to reach the goal point. The obstacle was set in between the robot and the goal point. The initial, goal, and the obstacles are set randomly.  The experiments show that the integration of the proposed method can be implemented successfully. The real obstacle avoidance method and fulfilling the nonholonomic constraint are the proof that the method is running well. The results show that the integrated proposed method meets convergent and stable.

%U http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=832 %R doi:10.18517/ijaseit.6.4.832 %J International Journal on Advanced Science, Engineering and Information Technology %V 6 %N 4 %@ 2088-5334

IEEE

Hendri Himawan Triharminto,Oyas Wahyunggoro,Teguh Bharata Adji and Adha Imam Cahyadi,"An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot," International Journal on Advanced Science, Engineering and Information Technology, vol. 6, no. 4, pp. 410-418, 2016. [Online]. Available: http://dx.doi.org/10.18517/ijaseit.6.4.832.

RefMan/ProCite (RIS)

TY  - JOUR
AU  - Triharminto, Hendri Himawan
AU  - Wahyunggoro, Oyas
AU  - Adji, Teguh Bharata
AU  - Cahyadi, Adha Imam
PY  - 2016
TI  - An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot
JF  - International Journal on Advanced Science, Engineering and Information Technology; Vol. 6 (2016) No. 4
Y2  - 2016
SP  - 410
EP  - 418
SN  - 2088-5334
PB  - INSIGHT - Indonesian Society for Knowledge and Human Development
KW  - Artificial Potential Field; kinematic control; nonholonomic
N2  - 

In this paper, path planning which is based on Artificial Potential Field (APF) and the kinematic based control is integrated in order to solve an issue in the APF. Usually, the APF assumes the robot is modeled as a point mass. It means that the robot can move in any direction and neglect the nonholonomic constraint. In order to solve such a problem, the APF should be considered as part of the control system. This research proposed an approach integrating APF and control system under nonholonomic constraint. Naturally, the force of the APF can be used as linear velocity in the control system. Then, waypoint of APF is used as equilibrium point of kinematic control. In order to validate the proposed method, the experimental setup conducted on loop simulation. The scenario is that the robot moves along the certain trajectory to reach the goal point. The obstacle was set in between the robot and the goal point. The initial, goal, and the obstacles are set randomly.  The experiments show that the integration of the proposed method can be implemented successfully. The real obstacle avoidance method and fulfilling the nonholonomic constraint are the proof that the method is running well. The results show that the integrated proposed method meets convergent and stable.

UR - http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=832 DO - 10.18517/ijaseit.6.4.832

RefWorks

RT Journal Article
ID 832
A1 Triharminto, Hendri Himawan
A1 Wahyunggoro, Oyas
A1 Adji, Teguh Bharata
A1 Cahyadi, Adha Imam
T1 An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot
JF International Journal on Advanced Science, Engineering and Information Technology
VO 6
IS 4
YR 2016
SP 410
OP 418
SN 2088-5334
PB INSIGHT - Indonesian Society for Knowledge and Human Development
K1 Artificial Potential Field; kinematic control; nonholonomic
AB 

In this paper, path planning which is based on Artificial Potential Field (APF) and the kinematic based control is integrated in order to solve an issue in the APF. Usually, the APF assumes the robot is modeled as a point mass. It means that the robot can move in any direction and neglect the nonholonomic constraint. In order to solve such a problem, the APF should be considered as part of the control system. This research proposed an approach integrating APF and control system under nonholonomic constraint. Naturally, the force of the APF can be used as linear velocity in the control system. Then, waypoint of APF is used as equilibrium point of kinematic control. In order to validate the proposed method, the experimental setup conducted on loop simulation. The scenario is that the robot moves along the certain trajectory to reach the goal point. The obstacle was set in between the robot and the goal point. The initial, goal, and the obstacles are set randomly.  The experiments show that the integration of the proposed method can be implemented successfully. The real obstacle avoidance method and fulfilling the nonholonomic constraint are the proof that the method is running well. The results show that the integrated proposed method meets convergent and stable.

LK http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=832 DO - 10.18517/ijaseit.6.4.832