Goal-based navigation

Author:

Francesco Ferrante

Date:

2009-12 This work consist in goal based navigation with potential field method for a non-holonomic robot. It is possible to employ two kinds of repulsive field: Classic or Vortex.

The robot KheperaIII during the navigation.

Goal-based navigation on Player

For test obsAvoiAlgoLIP on player

$ ./testObsAvoiAlgoLIP -options 

In the main routine of testObsAvoiAlgoLIP you must indicate that MobileRob object is a PlayerRob object. For a detailed description of the options see the ObsAvoiAlgoLIPOptions The options must be written with a prefix "obsAvoiAlgoLIP" For example

$ ./testObsAvoiAlgoLIP -obsAvoiAlgoLIPVortexField true 

Goal-based navigation on KheperaIII

The algorithm run in remote mode. Then execute on KheperaIII's shell:

$ ssh root@192.168.0.10<id>
$ cd ../2ndFlash
$ ./RemKhepSrv 

And execute on pc shell

$ ./testObsAvoiAlgoLIP -options 

In the main routine of testObsAvoiAlgoLIP,you must indicate that MobileRob object is a RemoteKhepera object. For a detailed description of the options see the ObsAvoiAlgoLIPOptions The options must be written with a prefix "obsAvoiAlgoLIP" For example

$ ./testObsAvoiAlgoLIP -obsAvoiAlgoLIPVortexField true