Hi everyone,
Has anyone have experience about robot programming in potential field?? I need some help and sb to check my logic. I use two functions. one produces the repulsive force and one produce the attractive force. Fr is 0 , when d >=D (d is the distance from the robot to the obstacle. D is a constant range value.) and is k(D-d)/D,when d<D ; Fa is a constant k2 when d >=D, and k'd/D when d<D. Is it reasonable ?? k and k' can be known through tests???Well, in my mind , I think it is ok to get.
And do I need to consider the local mininum problem ?? if I need , how to avoid it ?? just add a little force under some special situations ??
Thanks in advance.
Jin Xing
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