Indonesia Conference Directory

Corresponding Author
Tresna Dewi

Institutions
a) Electrical Engineering Department, Politeknik Negeri Sriwijaya, Jalan Srijaya Negara Bukit Besar Palembang, Indonesia, 30139.
tresna_dewi[at]polsri.ac.id
b) Electrical Engineering Department, Politeknik Negeri Malang, Jl. Soekarno Hatta No.9, Jatimulyo, Kec. Lowokwaru, Kota Malang, Jawa Timur, Indonesia, 65141.

Abstract
Mobile robot navigation and trajectory generation are the challenging task in designing a robot system in a dynamic or unknown environment. A robot has to be equipped with the ability to move without crashing into obstacles and reaching the designated target or goal safely completing its task. The virtual potential field is a well-known method in car-like mobile robot design. This method is simple and yet effective by designing that obstacles emit the repulsive force, and the target gives attractive force. This scenario ensures the robot to avoid obstacles and reach for the target. The wide application of virtual potential field includes in military, domestics, and as the transport system in the industry. Virtual potential field method for one robot can be developed for a group of robots in the form of leader-follower where the leader is considered to have an attractive force relative to the follower robot. This paper discusses the application of virtual potential field in leader-follower robot. The feasibility of the proposed method is confirmed by a simulation in MobotSim.

Keywords
Attractive force, mobile robot, leader-follower robot, repulsive force, virtual potential field

Topic
Mechatronics and Robotics Technologies

Link: https://ifory.id/abstract/z36BLjecdghD