File potential_field.hpp

↰ Parent directory (include)

Header file for potential field-based reactive algorithm. The algorithm is based on the article: “A Real-Time Obstacle Avoidance Method for Autonomous Vehicles Using an Obstacle-Dependent Gaussian Potential Field” https://doi.org/10.1155/2018/5041401.

Definition (include/potential_field.hpp)

Includes

• algorithm

• cmath

• stdexcept

• utility

• utils.hpp (File ros_utils.hpp)

• vector

Included By

• File potential_field_node.hpp

• File potential_pursuit_node.hpp

Functions

• Function calculate_obstacle_parameters

• Function compute_attractive_potential

• Function compute_choosen_index

• Function compute_obstacle_potential

• Function find_local_minima

• Function find_obstacles

• Function max_index

• Function potential_field_steering

• Function potential_pursuit_steering

• Function reduce_lidar_fov