In this tutorial, we explain how to derive a potential field method (artificial potential field method) for robot path planning and obstacle avoidance by using lidar measurements. In the tutorial, we explain
- Robot path planning and obstacle avoidance problem formulation.
- Odometry measurement model for path planning and obstacle avoidance.
- Lidar working principle and how obstacle points are detected.
- How to formulate and derive the potential field method for path planning and obstacle avoidance.
- How to compute the angular and linear velocities for robot control by using the potential field method.
- How to implement the velocity controller.
In this robotics and AI tutorial, we explain the mathematical foundations of the potential field method (artificial potential field method) for robot path planning and obstacle avoidance by using lidar measurements. We explain the mathematical foundations and derive all the equations for the attractive and repulsive potential fields. We explain how attractive and repulsive forces are computed by using gradients of potential field functions. Then, we explain how obstacles are detected by using lidars and how cost functions are created. Finally, we explain how to compute the linear and angular velocities for the differential drive controller. This tutorial is developed for a mobile robot. However, everything explained in this tutorial can be generalized to the case of robotic manipulators.
The tutorials are given below.
