APF

python_motion_planning.local_planner.apf.APF

Bases: LocalPlanner

Class for Artificial Potential Field(APF) motion planning.

Parameters:

Name	Type	Description	Default
start	tuple	start point coordinate	required
goal	tuple	goal point coordinate	required
env	Env	environment	required
heuristic_type	str	heuristic function type	'euclidean'
**params		other parameters can be found in the parent class LocalPlanner	{}

Examples:

Python Console Session

>>> from python_motion_planning.utils import Grid
>>> from python_motion_planning.local_planner import APF
>>> start = (5, 5, 0)
>>> goal = (45, 25, 0)
>>> env = Grid(51, 31)
>>> planner = APF(start, goal, env)
>>> planner.run()

getAttractiveForce(cur_pos, tgt_pos)

Get the attractive force of APF.

Parameters:

Name	Type	Description	Default
cur_pos	ndarray	current position of robot	required
tgt_pos	ndarray	target position of robot	required

Returns attr_force (np.ndarray): attractive force

getRepulsiveForce()

Get the repulsive force of APF.

Returns:

Name	Type	Description
rep_force	ndarray	repulsive force of APF

plan()

APF motion plan function.

Returns:

Name	Type	Description
flag	bool	planning successful if true else failed
pose_list	list	history poses of robot

run()

Running both plannig and animation.