Artificial Potential Field Obstacle Avoidance Algorithm
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This article provides a detailed introduction to the MATLAB implementation of the Artificial Potential Field obstacle avoidance algorithm. The algorithm is structured around three key computational functions: angle calculation (determining directional vectors between robot and targets), attractive force computation (guiding movement toward goals using gradient descent principles), and repulsive force calculation (creating avoidance behavior from obstacles using inverse distance relationships). Through comprehensive testing, the algorithm demonstrates stable operation and achieves effective obstacle avoidance performance. The artificial potential field method also finds applications in various robotics domains, including path planning and dynamic obstacle avoidance scenarios, representing areas worthy of further exploration and implementation.
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