cs685-potential-fields

# cs685-potential-fields - Potential Field Methods Idea robot...

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1 Potential Field Methods Idea robot is a particle Environment is represented as a potential field (locally) Advantage – capability to generate on-line collision avoidance Compute force acting on a robot – incremental path planning Example: Robot can translate freely , we can control independently Environment represented by a potential function Force is proportional to the gradient of the potential function Some slide thanks to http://cs.cmu.edu/~motionplanning Jana Kosecka, GMU Attractive potential field - Linear function of distance - Quadratic function of distance Combination of two – far away use linear, closer by use parabolic well

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2 Jana Kosecka, GMU Repulsive potential field if Minimal distance between the robot and the obstacle else Potential Function Iterative gradient descent planning Resulting force
3 Potential Fields Simple way to get to the bottom, follow the gradient i.e. Gradient descent strategy A critical, stationary point is such that Equation is stationary at the critical point

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## This note was uploaded on 04/07/2010 for the course CS 685 taught by Professor Luke,s during the Fall '08 term at George Mason.

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cs685-potential-fields - Potential Field Methods Idea robot...

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