|
The aim of the project is to simulate the path of an autonomous wheeled mobile robot using the Virtual Force Field (VFF) method developed by Dr J. Borenstein, to reach a desired destination starting from a known position in an environment filled with unknown obstacles.
The kinematics of a differentially driven wheeled mobile robot is modeled and VFF algorithm is implemented to control the linear and angular velocity in a MATLAB program. The simulation is done to generate the path of the robot in the presence of a virtual obstacle. One objective of the simulation is also to determine some optimum values for the proportional constants for the forward velocity proportionality constant (k1) and angular velocity proportionality constant (k2) to be used in the algorithm.
The simulation of the above system produced satisfactory results and the proportionality constants were determined.
|
