MISG robot path planning 3

The movie also shows the path taken by the bar after a planning procedure is complete, but this time an entirely different planning technique has been used. The method employed in this example is a Potential Fields Planner. This involves creating a 'potential field' in the configuration space of the robot and letting the robot move as though the field was a 'force field' (i.e. along the negative gradient). This works if the goal is at a potential minimum and the obstacles have high (or even infinite) potential. This was achieved in this example by constructing an harmonic potential in the free workspace of the robot, and extending it through some trickery to the configuration space.

Category:

Education

Tags:

• wits
• university
• mathematics
• misg
• RRT
• problems
• solutions
• Rapidly Exploring Random Tree

[buhochileno]

could you share your code for academic propuses?

thaks