16-735 Homework 3: Potential Fields

Ross A Knepper

21 September 2007

I chose to implement a standard potential field planner because it is simple. The implementation used the following equations:

where the knobs were tuned as follows:

The step function which navigates down the potential gradient is

where the rate parameter, , is used to reduce the step size to a stable amount.

Here are movies of a success and a failure.