Mobile robot control based on principles of Electrostatics

This paper presents the procedure of designing a control algorithm for differential driven mobile robot that is a typical example of a system with non-holonomic constraints. Mobile robot is controlled to reach an endpoint starting from random initial position in space. While moving to the endpoint robot is supposed to avoid any obstacle that is in its way. The designing procedure is based on Electrostatics theory. Robot and obstacles are supposed to be positively charged, while the endpoint is negatively charged. With this approach, mobile robot avoids detected obstacles and moves to the endpoint. Efficiency of proposed procedure is illustrated by detailed simulations.