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APF-simulator

Introduction

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

Link to the documentation

https://drive.google.com/drive/folders/0B0UXcR6jjCx3UnBMYzFaN09SYUE

Installation and Usage

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
$ ./bin

Contribution

Want 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