From b2bba4c56a3bef882e1db324aed7e97ddb14b0f7 Mon Sep 17 00:00:00 2001 From: Abdur Javaid Date: Mon, 26 Jul 2021 11:48:53 -0400 Subject: [PATCH] Added Potential Field Demo --- README.md | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index 0107189..64156a6 100644 --- a/README.md +++ b/README.md @@ -22,9 +22,6 @@ - [Grid Based Planner](#grid-based-planner) - [Authors](#authors) - [Acknowledgements](#acknowledgements) - - [PRM](#prm) - - [RRT](#rrt) - - [Potential Fields](#potential-fields) - [License](#license) @@ -133,7 +130,7 @@ The goal pose emits a strong attractive force, and the obstacles emit a repulsiv creating a artificial potential field that attracts the robot towards the goal. The goal pose emits a strong attractive field, and each obstacle emits a repulsive field. By following the sum of all fields at each position, we can construct a path towards the goal pose. -![Virtual Field](https://i.imgur.com/MvO76Wq.gif) +![PF Demo](https://i.imgur.com/3HYFFsI.gif) ### Virtual Fields A problem with the potential field planner is that it is easy for the planner to get stuck in local @@ -158,16 +155,15 @@ Styling / UI / Design # Acknowledgements -## PRM - +**PRM** - Becker, A. (2020, November 23). PRM: Probabilistic Roadmap Method in 3D and with 7-DOF robot arm. [YouTube](https://www.youtube.com/watch?v=tlFVbHENPCI&feature=youtu.be) - Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2). (2018, March 16). [YouTube](https://www.youtube.com/watch?v=rKe6HO8LDu0) - -## RRT + +**RRT** - Algobotics: Python RRT Path Planning playlist. [Youtube](https://www.youtube.com/watch?v=TzfNzqjJ2VQ&list=PL9RPomGb9IpRlfQEGkWnTt8jIauPovpOH) - RRT, RRT* & Random Trees. (2018, November 21). [YouTube](https://www.youtube.com/watch?v=Ob3BIJkQJEw) - -## Potential Fields + +**Potential Field** - Ding Fu-guang, Jiao Peng, Bian Xin-qian and Wang Hong-jian, "AUV local path planning based on virtual potential field," IEEE International Conference Mechatronics and Automation, 2005, 2005, pp. 1711-1716 Vol. 4, doi: 10.1109/ICMA.2005.1626816. [URL](https://ieeexplore.ieee.org/document/1626816) - Michael A. Goodrich, Potential Fields Tutorial [URL](https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.115.3259&rep=rep1&type=pdf) - Safadi, H. (2007, April 18). Local Path Planning Using Virtual Potential Field. [URL](https://www.cs.mcgill.ca/~Ehsafad/robotics/)