apf-obstacle-avoidance

This is a MATLAB implementation of obstacle avoidance with a 2DOF robot animation, using the artificial potential field approach introduced by Oussama Khatib in 1986.

If you want to run the project just run potential_field_GUI.m and it will do the rest for you!

• You can introduce the coordinates for the initial end effector position, goal end effector position, obstacle position and robot base through the GUI.

• You can select the obstacle radius and link lengths of the 2DOF animated manipulator through the GUI.

Generate Workspace will reinitialize the workspace with the new coordinates and dimensions you have entered.

Go to Config. Space will generate a configuration space for the current workspace and display it.

Show Potential Field will display how the curent potential field looks.

• Plan Motion will plan the motion from initial position to goal position using the potential field approach.

Be aware that the implementation is still not sturdy enough to handle some obstacle locations, dimensions and link lengths.