Lecture 7
24-354 General Robotics
Fall-05. Prof. Howie Choset
- Lab 4: Low Level Mobile Base Control
- Continue with Potential functions
- Attractive/Repulsive Potential Functions
- Attractive: Distance to goal
- Repulsive: Distance to obstacles
- Local Minimum Problem
Configuration Space (Planar)
WORKSPACE
CONFIG SPACE
Distance metrics:
- The most common and familiar is the L2 distance metric. This is the typical square-root of the sum of the squares approach. The contours of constant depth are made up of circles.
- Another metric often used in robotics is the L1 or Manhattan distance metric. This distance is the absolute value sum of the orthogonal distances and can be thought of as the distance that a taxi cab might have to travel between two locations along city streets. Constant distance contours for L1 distance are diamonds as shown (Notice that obstacles "bend" the contours):
- Wavefront (Distance Transformation)
