Implementation of Virtual Force Field Method for Movements Control Autonomous Mobile Robot in Soccer Robot Applications

摘要

Virtual Force Field method is the one method which have simply concept but have a good ability to solve problemudabout obstacle avoidance. From the research that have done by Borenstein, Virtual Force Field is developed from the research that have done before that is Potential Field Method which work based on Histogram Grid. But it use Weight Value that different in any place which have obstacle. From the poorness that method, finally it can handled by Virtual Force Field method. In the Virtual Force Field method, an obstacle will represented as Repulsive Force and the target will represented as Attractive Force toward robot. Thenudthe result from two force will be command in steering robot. To detect an obstacle that surrounds robot we use An Ultrasonic Sensor SRF 04 which work optimally up to 100 cm. For detect the object in front of robot we use Object Tracking method which use CMU Cam2 camera. In practically, we get an error resultant about 0.059% for the vector angle and 0.073% for the value of vector.