Al Jabari, HamzahAlobahji, AbdulrahmanBaran, Fray A.2024-07-182024-07-182022978-1-7281-7711-31943-6572https://doi.org/10.1109/AMC51637.2022.9729318https://hdl.handle.net/11411/776817th IEEE International Conference on Advanced Motion Control (AMC) -- FEB 18-20, 2022 -- ELECTR NETWORKThis paper proposes a navigation algorithm for indoor mobile robots in unknown and unstructured environments using a modified Artificial Potential Fields (APF) approach. The proposed algorithm takes into consideration the well-known drawbacks of the APF such as local minima, U-Shaped traps, box canyon and the goal non-reachable with obstacles nearby (GNRON) and implies certain modifications to address those problems. The proposed method is tested in a series of simulations performed on actual lidar measurement data and taking into consideration the problems mentioned above. The results of the simulations confirm the performance of the proposed method yielding a robust and fast algorithm for indoor localization and navigation of mobile robots.eninfo:eu-repo/semantics/closedAccessArtificial Potential FieldsWaypoint GenerationIndoor NavigationObstacle AvoidanceConference Object10.1109/AMC51637.2022.9729318449444N/AWOS:000803053000073