cs685-potential-fields

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

Info iconThis preview shows pages 1–4. Sign up to view the full content.

View Full Document Right Arrow Icon
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
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
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
Background image of page 2
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
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Image of page 4
This is the end of the preview. Sign up to access the rest of the document.

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.

Page1 / 9

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

This preview shows document pages 1 - 4. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online