Implementation of Potential Fields in a Differential Mobile Robot

This paper presents the implementation of the autonomous navigation technique, Potential Fields. It describes the model of the mobile robot in a differential configuration, considering a point displaced from the axis of action of the wheels. In addition, it discusses the robot's odometry and the implementation of the autonomous navigation method for obstacle avoidance. The study presents results from both simulations in the CoppeliaSim environment and experimental tests on a mobile robot in a differential configuration. This robot was built using low-cost electronics such as the ESP32 development board and 6 HCSR-04 ultrasonic sensors. This provides a valuable opportunity to learn and acquire practical knowledge about mobile robotics and the implementation of navigation and control algorithms.