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Atsushi Sakai
2018-01-05 09:48:12 -08:00
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@@ -102,6 +102,19 @@ In the animation, cyan points are searched nodes.
It's heuristic is 2D Euclid distance.
### Potential Field algorithm
This is a 2D grid based path planning with Potential Field algorithm.
![PotentialField](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/PotentialFieldPlanning/animation.gif)
In the animation, the bule heat map means potential valude on each grid.
Ref:
- [Robotic Motion Planning:Potential Functions](https://www.cs.cmu.edu/~motionplanning/lecture/Chap4-Potential-Field_howie.pdf)
## Model Predictive Trajectory Generator