Artificial_Potential_Fields

ROS package for reactive obstacle avoidance using artificial potential fields.

2D APF

Make sure you have following topics: Subscribers: "/odom" "/attractive_velocity"(geometry_msgs::Twist) "/scan"

And will publish: Publishers: "/cmd_vel"...

Step to run the project

1. Prepare your simulation environment: You can install a same environment like mine by:

     git clone https://github.com/6-robot/wpr_simulation.git
   

   or choose a robot model you like (Some parameter need to be tune base on different model)

2. Open your simulation environment:

     roslaunch wpr_simulation wpb_simple.launch
   

3. Run APF.launch run:

     roslaunch artificial_potential_fields APF.launch
   

   or:

     roslaunch artificial_potential_fields APF_unomni.launch (moving forward demo)
   

4. Begin to control:

     rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/attractive_velocity
   

5. Press "x" to decrease the linear speed to 0.2m/s,which is the highly recommend!

Other information

Fork from: https://github.com/andriyukr/artificial_potential_fields

Related vedio: https://www.bilibili.com/video/BV1bG41137G2/ (bilibili)

Star please qwq!