Implementation of Potential Fields in a Differential Mobile Robot (TurtleBot2)

摘要

This paper focuses on the implementation of a method based on the physical principle of “Potential Fields.” A differential robot, known as TurtleBot2 (Kobuki), was utilized to address the problem of autonomous navigation. To perceive the environment, a laser-based object detection and measurement system was used, enabling TurtleBot2 to navigate complex environments by detecting and avoiding obstacles. Additionally, an NVIDIA Jetson Nano ARM architecture computer was utilized, equipped with a streamlined set of instructions for essential processing, enabling it to control the robot's angular and linear speed. The wireless connection between the computer and the TurtleBot2 enabled efficient information transfer and data processing. This wireless connection extends robot's working range based on Wi-Fi network coverage, ensuring safe navigation in restricted and challenging spaces. Tests were conducted in two distinct environments, presenting results from both simulation and experimentation, demonstrating the efficacy of the technique.