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Method for planning the trajectories of mobile objects in conditions of uncertainty презентация
Содержание
- 1. Method for planning the trajectories of mobile objects in conditions of uncertainty
- 2. Method of potential fields The robot must move in accordance with this force.
- 3. Method of potential fields The robot
- 4. Method of potential fields Robot pushes
- 5. Method of potential fields The total
- 6. Method of potential fields
- 7. Thank you for your attention!
Method of potential fields The robot must move in accordance with this force.
Слайд 1Method for planning the trajectories of mobile objects in conditions of
uncertainty
Слайд 3 Method of potential fields
The robot approaches the obstacle, the repulsive
force will act on it, pushing the robot away from the obstacle.
Слайд 5 Method of potential fields
The total potential field:
Ug(q) – the potential
field of the target point
Uo(q) – the potential field of the obstacle field
The induced force is calculated:
U(q) –the potential field
r(q,g) - the Euclidean distance between a robot in a state q and a goal
r(q,o) – the Euclidean distance between a robot in a state q and the nearest point to the obstacle
Uo(q) – the potential field of the obstacle field
The induced force is calculated:
U(q) –the potential field
r(q,g) - the Euclidean distance between a robot in a state q and a goal
r(q,o) – the Euclidean distance between a robot in a state q and the nearest point to the obstacle
Слайд 6 Method of potential fields
Advantages
*
It is able to hold the robot at any
point of the simulated environment.
*Vectors of resistance are calculated only by the indications of the sensors at the current time.
point of the simulated environment.
*Vectors of resistance are calculated only by the indications of the sensors at the current time.
Disadvantage
* High probability of getting into the local minimum.
