APF Approach - 3 Balls Rolling Simulation (No Const.) v2.0

A simulation created to illustrate the artificial potential field approach (APF) used in robot motion planning.

In the case of three robots, each robot not only have to avoid collision with the obstacle, but also have to maintain certain distance with each other to avoid collisions.

The 3 balls represent the robots, high potentials hills represent the obstacles, and the target located at the lowest potential.

This is a case where formation constraint is NOT satisfied.

A simulation used in my M.S. thesis defense.
- in v1.0 A relatively satisfied simulation after numerous trials.
- in v2.0 I made the ball colored in 3 different colors.

Note: Please rate my video and send me an email if you have any questions. Thanks! =)

For more information, visit:
http://www.eng.buffalo.edu/~llee3/
http://mechatronics.eng.buffalo.edu/

Category:

Howto & Style

Tags:

• robot
• motion
• planning
• simulation
• matlab
• robotics
• artificial
• potential
• field
• approach