ROS2 Tutorials - Derivation of Potential Field Method for Robot Path Planning and Obstacle Avoidance Using Lidar

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Content missing – cannot generate learning outcomes
Content missing – cannot generate learning outcomes
Content missing – cannot generate learning outcomes
Content missing – cannot generate learning outcomes

This course includes

47.5 hours of video
Certificate of completion
Access on mobile and TV

Summary

Full Transcript

#robotics #ros2jazzy #mechatronics #computervision It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way: - Buy me a Coffee: https://www.buymeacoffee.com/AleksandarHaber - PayPal: https://www.paypal.me/AleksandarHaber - Patreon: https://www.patreon.com/user?u=32080176&fan_landing=true - You Can also press the Thanks YouTube Dollar button 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. We derive the algorithm for a mobile robot. We first explain how to derive the repulsive and attractive potential functions and then we explain how to compute the repulsive and attractive forces for robot path planning and navigation. To attractive force steers the robot to the goal. On the other hand, the repulsive force is used for obstacle avoidance. We also explain how to correctly read the lidar measurements and how to compute the obstacle point coordinates detected by lidar scans.