- #1
Maria88
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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, P0 is the distance of influence of the obstacle. P is the distance between the mobile robot and obstacle. ƞ is the proportional coefficient. (X-Xg) is the distance between the mobile robot and goal. The repulsive force is the negative gradient of this repulsive potential fields function.
My question is about Frep , what is the difference between Frep1 , Frep2 and ||Frep1|| , ||Frep2||.
Why Frep1 & Frep2 contain parts that rounded with red circles while ||Frep1|| , ||Frep2|| don’t contain?
What is the difference between two states? Could anyone explain that for me?Thanks in advance
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, P0 is the distance of influence of the obstacle. P is the distance between the mobile robot and obstacle. ƞ is the proportional coefficient. (X-Xg) is the distance between the mobile robot and goal. The repulsive force is the negative gradient of this repulsive potential fields function.
My question is about Frep , what is the difference between Frep1 , Frep2 and ||Frep1|| , ||Frep2||.
Why Frep1 & Frep2 contain parts that rounded with red circles while ||Frep1|| , ||Frep2|| don’t contain?
What is the difference between two states? Could anyone explain that for me?Thanks in advance
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