We have to implement an algorithm for potential field path planning.
I have implemented so far everything for this formula:
$ U(q) = attractive Force + Sum Repulsive Forces (of all obstacles) $
The result should be a velocity vector for x and y direction.
Based on the lecture slides we have the hint:
F = - \nabla U(q) = - [dU/dx, dU/dy]
Can somebody explain me, how to transform the Energy U to the velocities?
Given is a map with a startposition and a targetPosition of a robot in [m] and some positions of obstacles. Furthermore an updatetime of 0.2s