Function potential_pursuit_steering

Function Documentation

float potential_pursuit_steering(std::vector<float> ranges, float angle_increment, float desired_fov, float field_resolution, float obstacle_threshold_gain, float hysteresis, float attractive_power, float car_width, float max_steering_angle, float steering_gain, float max_distance_weight, float steering_error, bool include_global_minima, bool use_minima_near_attractive)

Computes the steering angle using a potential field method based on LIDAR data.

Parameters:

  • ranges – A reference to a vector of float values representing LIDAR range measurements.

  • angle_increment – The angular resolution of the LIDAR in radians [rad].

  • desired_fov – The angle in degrees of the wanted LIDAR field of view [deg].

  • field_resolution – The resolution of the potential field in degrees.

  • obstacle_threshold_gain – The gain factor for the obstacle detection threshold.

  • hysteresis – The hysteresis value for obstacle detection.

  • attractive_power – The power of the attractive potential field.

  • car_width – The width of the car in meters.

  • max_steering_angle – The maximum allowable steering angle in radians.

  • steering_gain – The gain factor for the steering angle.

  • max_distance_weight – The maximum weight for the distance in the potential field.

  • steering_error – The error in the steering angle computation.

  • include_global_minima – A boolean flag to include global minima in the potential field.

  • use_minima_near_attractive – A boolean flag to use minima near the attractive potential.

Returns:

The computed steering angle in radians.