Potential-Field-Path-Planning

Python code for Simulating a Potential Field based obstable avoidance and path planning

To setup:

You can use a code editor of your choice, but I personally find PyCharm very user friendly and easy to use.

Steps to install PyCharm (Ubuntu):

1. Download the tarball .tar.gz from Here
2. Extract the tarball to a directory that supports file execution.For example, if the downloaded version is 1.17.7391, you can extract it to the recommended /opt directory using the following command:
   • sudo tar -xzf jetbrains-toolbox-1.17.7391.tar.gz -C /
3. Switch to the bin subdirectory:
   • cd /opt/pycharm-*/bin
4. Run pycharm.sh from the bin subdirectory:
   • sh pycharm.sh

Clone the Script file:

1. Go to your workspace (any folder where you which to maintain this code)
2. Open terminal at that location (Right-Click -> Open in Terminal)
3. Clone the repostory by pasting the following into the opened terminal:
   • git clone "https://github.com/PulkitRustagi/Potential-Field-Path-Planning.git"

What output should look like:

The obstacle locations have been preset in the main() function which you can scroll to the bottomof the script and specify (x,y) for obstables: Upon execution you should get an animation such as shown below (this is a different obstacle setting than shown above):