Navigation Of Traversal Mobile Robot Based On Potential Fields For Motion Surveillance

The paper presents approaches to the local navigation in an unknown dynamic environment. This aims to investigate and develop the appropriated path planning and local navigation technique base on the approach of Artificial Potential Field in order to minimize collision risk in uncertain environments. In this paper, the Potential Field Approach has been implemented to suit the B12 robot actuator system and its sonar sensor system to optimise the robot navigation for surveillance system. The Artificial Potential Field, which a powerful technique is employed. The Potential force depends on the current position with respect to the goal and distances to the obstacles. The Potential Force is programmed and recalculated in each step of travelling. As part of the paper, the surveillance system of the above mention approaches has been prepared to attach to the top of mobile robot for the image capture, while the trajectory of the robot route before the real experiment. In addition, an RF radio link is implemented in the study that allows the wireless data communication with robot in the remote area. This paper models the navigation approach with the mobile robot to carry out the attached cameras for the motion surveillance on the unknown environment.