Attractive / Repulsive Field Assignment

During my final year of my undergraduate I developed a path planning program for a 3 axis robotic manipulator that used attractive and repulsive fields. The user could assign a starting location, an ending location, and any objects within the field. The attractive field would pull the robot towards the end point and the repulsive field would ensure that the robot did not crash into any objects in the work frame. The assignment can be downloaded for viewing below.

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Path Planning Example

An example of one of the planned paths as generated by Matlab can be seen below. The yellow, orange, and blue line represent joints 1, 2 and 3 of the robot respectively. The black lines represent the linkages between joints. The red boxes represent the objects in the field that generate the repulsive field.

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Contact Information

“Small ideas can be big.”