Robot Path Planning and Obstacle Avoidance Using Lidar - Potential Field Method - Math Derivation

#robotics #mechatronics #ros2 #ros2jazzy #ai #machinelearning #computervision #lidar It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way: - Buy me a Coffee: https://www.buymeacoffee.com/AleksandarHaber - PayPal: https://www.paypal.me/AleksandarHaber - Patreon: https://www.patreon.com/user?u=32080176&fan_landing=true - You Can also press the Thanks YouTube Dollar button In this robotics and ai tutorial, we explain the mathematical foundations of the potential field method (artificial potential field method) for robot path planning and obstacle avoidance by using lidar measurements. We explain the mathematical foundations and derive all the equations for the attractive and repulsive potential fields. We explain how attractive and repulsive forces are computed by using gradients of potential field functions. Then, we explain how obstacles are detected by using lidars and how cost functions are created. Finally, we explain how to compute the linear and angular velocities for the differential drive controller. This tutorial is developed for a mobile robot. However, everything explained in this tutorial can be generalized to the case of robotic manipulators.