A test of potential field navigation practice.
The work area is a square from (0,0) to (14,14) in the (x,y) plane. The goal is at (12,12). There are obstacles at (5,6) and (7,6). Use a repulsive potential of Ki/ri for each obstacle, with ri the vector to the i-th obstacle. For the target use an attractive potential of KT*rT , with rT the vector to the target.
run <discrete.m>
The potntial fields in 3-D polt is
Without the robot dynamics, the trajectory should be
With the mobile robot dynamic below starting at (1,1):
x_dot = VcosΦsinθ
y_dot = VcosΦcosθ
θ_dot = V/L*sinΦ
with (x,y) the position, θ the heading angle, V the wheel speed, L the wheel base, and Φ the steering angle. Set L= 3. run <path.m>, the trajectory should be:
