Abstract
This thesis applied artificial potential field to avoid obstacles for wheeled mobile robot. This system implements by using microcontroller and a laser range finder to obtain environment information. The artificial potential field approach constructs a virtual potential field for robot, obstacles and target. It introduces an attractive potential field at target and a repulsive potential field at obstacle to determine the moving path and speed for the mobile robot moving to target without collision. However, there are some defects, when avoiding moving-obstacles, the mobile robot may cause collisions due to small rotation angle or slow moving speed. As the solution, this thesis improves the repulsive potential field, having relative speed between obstacles and the mobile robot into consideration, to make robot avoid obstacles smoothly. In the experiment, the mobile robot can avoid obstacles and make to the target, then park in the garage by identifying the feature of U-garage. In addition, we use Class-E power amplifier to realize wireless power transfer. The purpose of Class-E circuit is making the switch of MOSFET in the state of “Zero-Voltage Switching, ZVS”, in order to reduce the power loss when switching, we implement the circuit by the resonance between inductors and capacitors. Use quartz oscillator to control the frequency of MOSFET switch, and simplify the switching circuit. Besides, the resonant tank is combined with resonance capacitor and resonance inductor to transfer the power.