Thanks a lot "certainly", I am really appreciated that for you, thanks for nice explanation, actually the general idea of potential field method is clear to me, the problem which I face is in the repulsive potential field function and specially after taking the negative gradient I became a...
Hello all
I am learning the artificial potential field method for path planning of mobile robot; artificial potential field method has two components: the first one is attractive force and second one is repulsive force.
The repulsive function is defined as :
Where Urep is repulsive field...
I have not differentiated (1), I found it in reference book with its derivation (eq. 2) and when I try to derive it the result was not match with eq. 2 . and also with eq. 3
d(q,qgoal) is the Euclidean distance between the mobile robot q and the position of the goal point qgoal
I think the problem is in this type of function , how to derive this type ?
Thanks a lot for reply
Actually, according to derivation rules and from my poor knowledge in derivation of equations when I derived equation (1) the result was:
Fatt (q)=-∇Uatt (q) = - ζ * d(q,qgoal) and this result doesn't match equation (2)
when I derived equation (3) the result was ...
I am working to use the artificial potential field method for path planning of mobile robot; actually I found in one of references the following description about this method:
the artificial potential field method uses a scalar function called the potential function. This function has two...
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