Indrazno Siradjuddin, Sapto Wibowo, Rafi Maulana Al Farizi, Mas Nurul Achmadiah, Gillang Al Azhar, Leonardo Kamajaya, Yan Watequlis Syaifudin
The use of mobile robots has been widely carried out to facilitate human work. Mobile robot designs are always being developed to increase their effectiveness in completing tasks. So far, most mobile robot technology uses a differential drive motion system. The main problem in the motion system of differential drive robot is the limitation of motion, and the robot cannot move in all directions. Research on the development of wheel design robots continues to be carried out to develop wheel designs on robots to get maximum results. Improved agility with configurations including lateral movement and zero turning radius has been successfully carried out on the ISID Robot. In ISID, the four-wheel frame of the ISID robot with four wheels is not mechanically connected. Each wheel can modify its translational and rotational motion. This article aims to describe the modeling of kinematic control and obstacle avoidance methods for a four-wheeled Independent Steering and Driving (ISID) robot using an artificial potential field. Khatib's potential field method is well known in robotic path planning. Although simple, it prevents the robot from colliding with objects in real time. The suggested ISID mobile robot kinematic formulation is taken from this study's rigid body motion theory. The laws of kinematic control have been developed in such a way that the error vector of the robot's posture decreases exponentially. The experiment was carried out in two scenarios, using one and five static obstacles. Simulation results show the artificial potential field, which works well when applied to a four-wheeled Independent Steering and Driving (ISID) robot. The resulting error approaches zero so the robot can reach the target position. © 2024 Author(s).
Electrical Engineering Departement, State Polytechnic of Malang, Malang, Indonesia