Mobile Robot Obstacle Avoidance Using Potential Field Method

Due to the elegant mathematical analysis and simplicity, the potential field function is commonly used for autonomous mobile robot obstacle avoidance. This paper presents a potential field method for mobile robot obstacle avoidance in the indoor environment. This work proposes a strategy for surface estimation to assist mobility of a robot in indoor environment using Kinect sensor data. The designed algorithm is based up on searching algorithm for the for the parameter estimation of surface. Quality of surface estimation depends upon the order of polynomial equation. Information from surface estimation can be used in designing the suitable controller to navigate through the smooth drivable path.