Hybrid optimal path planning and obstacle avoidance for 3 omni wheels mobile robot

Holonomic robots are advantageous in several applications. The work presented in this paper performs the simulation of a 3 omni wheel mobile robot using MATLAB and V-REP. The simulated robot contains proximity sensors and cameras for obstacle detection and uses the Artificial Potential Field algorithm for path planning. The robot can map the surrounding environment while deviates and categorizes obstacles previously known or not. The results strongly suggest the effectiveness of the proposed methodology. © 2022 IEEE.