Estimating the Target Location and Velocity Using Kalman Filter and Potential Field Path Planning of the Mobile Robot

In recent years, robotic science has transformed into a developing research field. Walking robots is one of the known and most applicable fields, but controlling and navigating these robots is challenging, and not clashing with obstacles on a safe path is considered one of the essential needs of these systems. Determining the target location, velocity, and obstacles is challenging for a robot, especially in an unknown environment. In the next step, path planning will be of significant importance for the robot. In the current article, the moving target is modeled on a two-dimensional coordinate system and its location and velocity were estimated in the presence of noise using the Kalman filter. Planning for the path on which the robot is moving is done by an artificial potential field (APF). Using simple potential functions of attraction and repulsion, a two- and a three-dimensional potential map was presented to transfer the robot to the desired target in the presence of obstacles. Simulations showed that this method is presenting an applicable path for the robot to move in the presence of obstacles and the robot will reach the target without clashing with the obstacles.

Keywords:

Mobile Robot , Kalman Filter , Path Planning , Obstacle Avoidance , Robot