I'm studying robotics at the university and as a practice, I have to implement potential field in the simulator (I'm going to use ROS and Gazebo).
I'm having troubles about how to implement it, especially in the data structures that I'm going to need. By the way, I'm going to do it with C++.
If I have understand it well, goal attracts the robot and obstacles repel it. So, the first thing I need is:
- A map with the obstacles, and goal location.
I will also need a function that computes the force between the robot's current location and goal, taking repelling force into consideration.
With the map and the previous function, I will move the robot to goal location.
Do you think I need something else?