Wall Following / Obstacle Avoidance
Posted: Tue Jan 03, 2017 8:03 pm
Hello All,
I'm trying to implement a logic where a footbot can avoid an obstacle without losing focus of its target destination. i've been studying control theory from different sources to understand how it should be done, and im still very puzzled by it.
My robots initially use PSO to get their next step to move to, this logic works well, the robots also moves towards the direction of the points generated by the PSO logic, however when they hit a wall/barrier/obstacle they simply just move the other way of the collision vector generated from the obstacle.
Control Theory Courses like the one from Georgia tech has a very neat FSM that explains and describes a solution to the problem, but i was looking for a simpler way to actually do it.
it is not my area of focus that i implement the obstacle avoidance logic, so i was hoping if it could be easier than i expect it to be.
The help is very much appreciated.
I'm trying to implement a logic where a footbot can avoid an obstacle without losing focus of its target destination. i've been studying control theory from different sources to understand how it should be done, and im still very puzzled by it.
My robots initially use PSO to get their next step to move to, this logic works well, the robots also moves towards the direction of the points generated by the PSO logic, however when they hit a wall/barrier/obstacle they simply just move the other way of the collision vector generated from the obstacle.
Control Theory Courses like the one from Georgia tech has a very neat FSM that explains and describes a solution to the problem, but i was looking for a simpler way to actually do it.
it is not my area of focus that i implement the obstacle avoidance logic, so i was hoping if it could be easier than i expect it to be.
The help is very much appreciated.