This research addresses the obstacle avoidance problem in wheeled mobile robots powered by renewable energy by considering all subsystems involved. A three-tier hierarchical controller is developed. integrating the technique of artificial potential fields. The proposed controller incorporates the dynamics of the three key subsystems typically found in a wheeled mobile robot: The mecha... https://www.ashleyshomestores.shop/product-category/6-piece-outdoor-modular-seating/