- Author:
- Francesco Ferrante
- Date:
- 2009-12 This work consist in goal based navigation with potential field method for a non-holonomic robot. It is possible to employ two kinds of repulsive field: Classic or Vortex.
The robot KheperaIII during the navigation.
For test obsAvoiAlgoLIP on player
$ ./testObsAvoiAlgoLIP -options
In the main routine of testObsAvoiAlgoLIP you must indicate that MobileRob object is a PlayerRob object. For a detailed description of the options see the ObsAvoiAlgoLIPOptions The options must be written with a prefix "obsAvoiAlgoLIP" For example
$ ./testObsAvoiAlgoLIP -obsAvoiAlgoLIPVortexField true
The algorithm run in remote mode. Then execute on KheperaIII's shell:
$ ssh root@192.168.0.10<id>
$ cd ../2ndFlash
$ ./RemKhepSrv
And execute on pc shell
$ ./testObsAvoiAlgoLIP -options
In the main routine of testObsAvoiAlgoLIP,you must indicate that MobileRob object is a RemoteKhepera object. For a detailed description of the options see the ObsAvoiAlgoLIPOptions The options must be written with a prefix "obsAvoiAlgoLIP" For example
$ ./testObsAvoiAlgoLIP -obsAvoiAlgoLIPVortexField true