gennav.planners.potential_field package

Submodules

gennav.planners.potential_field.potential_field module

class gennav.planners.potential_field.potential_field.PotentialField(KP, ETA, THRESH, STEP_SIZE, error, *args, **kwargs)

Bases: gennav.planners.base.Planner

Potential Field Class

KP

Attractive potential gain

Type:float
ETA

Repulsive potential gain

Type:float
THRESH

Distance beyond which attractive potential varies conically and repulsive potential has no effect

Type:float
STEP_SIZE

Step size for gradient descent while add a waypoint

Type:float
error

Minimum distance from the goal after which the bot will stop

Type:float
grad_attractive()

Calculates the gradient due to the attractive component of the potential field, i.e, the potential field created by the goal point

Parameters:None –
Returns:The gradient due to the attractive potential field at the state of the robot
Return type:grad (float)
grad_repulsive()

Calculates the gradient due to the repulsive component of the potential field, i.e, the potential field created by the obstacles

Parameters:None –
Returns:Total gradient due to potential field of all obstacles at the state of the robot
Return type:total_grad (float)
plan(start, goal, env)

Plans the path to be taken by the robot to get from start to goal in the form of waypoints

Parameters:
  • start (gennav.utils.RobotState) – starting state of the robot (x, y and z coordinates)
  • goal (gennav.utils.RobotState) – goal state of the robot (x, y and z coordinates)
  • env (gennav.envs.Environment) – Type of environment the robot is operating in
Returns:

A list of waypoints(in the form of robot states) that the robot will follow to go to the goal from the start dict: Dictionary containing additional information
Return type:

trajectory (gennav.utils.Trajectory)
replan(start, goal, env)

Replans the path to be taken by the robot to get from start to goal in the form of waypoints

Parameters:
  • start (gennav.utils.RobotState) – starting state of the robot (x, y and z coordinates)
  • goal (gennav.utils.RobotState) – goal state of the robot (x, y and z coordinates)
  • env (gennav.envs.Environment) – Type of environment the robot is operating in
Returns:

A list of waypoints(in the form of robot states) that the robot will follow to go to the goal from the start dict: Dictionary containing additional information
Return type:

trajectory (gennav.utils.Trajectory)

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