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help me with a simulator that can be used to simulate obstacle avoidance of manipulators using potential field ?

asked 2015-10-20 15:30:04 -0500

alexi gravatar image

suggest a simulator that can be used to demonstrate obstacle avoidance using potential field for manipulators. pls mention related packages that can be used

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answered 2015-10-21 01:53:42 -0500

updated 2015-10-21 02:19:05 -0500

Please do not spam this site with highly similar questions to ones you already asked. As already mentioned in the answer to your earlier question, multiple simulators like gazebo or V-REP can be used to provide a simulation environment for motion planning experiments. Note that these simulators only provide a simulation of the robot and environment, but no features for potential field based planning. That part you'd have to care about yourself, independent of the simulator used.

As noted before, classic potential field methods for obstacle avoidance of manipulators are prone to getting stuck in local minima. Most current state of the art planners employ other approaches and this is the reason why no implementation of classic potential field based planning for a manipulator is available as a ROS package (as far as I'm aware). Instead, planning is often performed using sampling (OMPL), search (SBPL) or optimization based (CHOMP, STOMP) planning approaches.

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i never intended to spam this site.. what i tried was to get clear insight to the topic.... thanx for the info provided. extremely great full.. sir, which simulator will be a better choice or my case?

alexi gravatar image alexi  ( 2015-10-21 09:45:21 -0500 )edit

Gazebo is the most frequently used simulator in the ROS community, so you'll probably find a little more documentation and info about it here. I hear V-REP is also quite good however, but haven't tried it myself.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2015-10-21 11:35:01 -0500 )edit

sir, i heard moveit is used for mption planning. can u explain me how to use it in case of manipulators?

alexi gravatar image alexi  ( 2015-10-22 01:25:24 -0500 )edit

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Asked: 2015-10-20 15:30:04 -0500

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Last updated: Oct 21 '15