peng_quad

Struct ObstacleAvoidancePlanner

Source 
pub struct ObstacleAvoidancePlanner {
    pub target_position: Vector3<f32>,
    pub start_time: f32,
    pub duration: f32,
    pub start_yaw: f32,
    pub end_yaw: f32,
    pub obstacles: Vec<Obstacle>,
    pub k_att: f32,
    pub k_rep: f32,
    pub k_vortex: f32,
    pub d0: f32,
    pub d_target: f32,
    pub max_speed: f32,
}
Expand description

Obstacle avoidance planner that uses a potential field approach to avoid obstacles

The planner calculates a repulsive force for each obstacle and an attractive force towards the goal The resulting force is then used to calculate the desired position and velocity

§Example

use nalgebra::Vector3;
use peng_quad::{ObstacleAvoidancePlanner, Obstacle};
let planner = ObstacleAvoidancePlanner {
    target_position: Vector3::new(0.0, 0.0, 1.0),
    start_time: 0.0,
    duration: 10.0,
    start_yaw: 0.0,
    end_yaw: 0.0,
    obstacles: vec![Obstacle {
        position: Vector3::new(1.0, 0.0, 1.0),
        velocity: Vector3::new(0.0, 0.0, 0.0),
        radius: 0.5,
    }],
    k_att: 1.0,
    k_rep: 1.0,
    k_vortex: 1.0,
    d0: 1.0,
    d_target: 1.0,
    max_speed: 1.0,
};

Fields§

§target_position: Vector3<f32>

Target position of the planner

§start_time: f32

Start time of the planner

§duration: f32

Duration of the planner

§start_yaw: f32

Starting yaw angle

§end_yaw: f32

Ending yaw angle

§obstacles: Vec<Obstacle>

List of obstacles

§k_att: f32

Attractive force gain

§k_rep: f32

Repulsive force gain

§k_vortex: f32

Vortex force gain

§d0: f32

Influence distance of obstacles

§d_target: f32

Influence distance of target

§max_speed: f32

Maximum speed of the quadrotor

Implementations§

Source§

impl ObstacleAvoidancePlanner

Implementation of the ObstacleAvoidancePlanner

Source

pub fn smooth_attractive_force(&self, distance: f32) -> f32

A smooth attractive force function that transitions from linear to exponential decay When the distance to the target is less than the target distance, the force is linear When the distance is greater, the force decays exponentially

§Arguments
  • distance - The distance to the target
§Returns
  • The attractive force
§Example
use peng_quad::ObstacleAvoidancePlanner;
let planner = ObstacleAvoidancePlanner {
   target_position: nalgebra::Vector3::new(0.0, 0.0, 1.0),
    start_time: 0.0,
    duration: 10.0,
    start_yaw: 0.0,
    end_yaw: 0.0,
    obstacles: vec![],
    k_att: 1.0,
    k_rep: 1.0,
    k_vortex: 1.0,
    d0: 1.0,
    d_target: 1.0,
    max_speed: 1.0,
};
let distance = 1.0;
let force = planner.smooth_attractive_force(distance);

Trait Implementations§

Source§

impl Planner for ObstacleAvoidancePlanner

Implementation of the Planner trait for ObstacleAvoidancePlanner

Source§

fn plan( &self, current_position: Vector3<f32>, current_velocity: Vector3<f32>, time: f32, ) -> (Vector3<f32>, Vector3<f32>, f32)

Plans the trajectory based on the current state and time Read more
Source§

fn is_finished( &self, current_position: Vector3<f32>, time: f32, ) -> Result<bool, SimulationError>

Checks if the current trajectory is finished Read more

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