{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

cs685-potential-fields

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

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

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

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

View Full Document
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

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

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

### What students are saying

• As a current student on this bumpy collegiate pathway, I stumbled upon Course Hero, where I can find study resources for nearly all my courses, get online help from tutors 24/7, and even share my old projects, papers, and lecture notes with other students.

Kiran Temple University Fox School of Business ‘17, Course Hero Intern

• I cannot even describe how much Course Hero helped me this summer. It’s truly become something I can always rely on and help me. In the end, I was not only able to survive summer classes, but I was able to thrive thanks to Course Hero.

Dana University of Pennsylvania ‘17, Course Hero Intern

• The ability to access any university’s resources through Course Hero proved invaluable in my case. I was behind on Tulane coursework and actually used UCLA’s materials to help me move forward and get everything together on time.

Jill Tulane University ‘16, Course Hero Intern