The main idea behind artificial potential field methods is finding a function that represents the energy of the system,and generating a force on the robot so that the energy of the system is minimized and reach it’s minimum value, preferably only, at the goal position.
This repository contains python,cpp,matlab simulator for APF
https://drive.google.com/drive/folders/0B0UXcR6jjCx3UnBMYzFaN09SYUE
Simulator requires Python or Cpp to run.
Make sure you have Python 2.7(or later) installed. Open the terminal and enter the 'python' (without quotes) command, if the python shell doesn't run, execute the following commands:
$ sudo apt-get install python2.7
$ sudo apt-get install python-pip python-dev build-essential
$ sudo pip install --upgrade pip
$ sudo pip install --upgrade virtualenv Below Python packages are to be downloaded and installed to their default locations.
- xlrd
If not installed, execute the following command
$ pip install xlrd
- opencv
If not installed, refer OpenCV Python Installation
- numpy
If not installed, execute the following command
$ pip install numpy
To run the simulator, clone the repository and run the following commands
- python
$ cd APF-Simulator/PythonCode
$ python simulator.py- cpp
If Opencv not installed, refer OpenCV C++ Installation
$ cd APF-Simulator/C++Code
$ make
$ ./binWant to contribute? Great!
1.Fork it! 2.Create your feature branch: git checkout -b my-new-feature 3.Commit your changes: git commit -m 'Add some feature' 4.Push to the branch: git push origin my-new-feature 5.Submit a pull request :D