EXAMPLE

 

INPUT

The input is taken in the form of task space(The environment i.e the road, the moving obstacle,which the robot has to overtake) of the robot.(Fig.1) Velocity of every other vehicle at each instant of time is also provided.
The Cspace is calculated.(Fig.2)
The Potential function (eye shaped) is calculated.(Fig.3)

OUTPUT

The output of the program will be the positions and the velocities of the vehicle at all instant of time till each reaches its goal(i.e. overtakes the leading vehicle)

Fig.1(Task Space)
Fig.2(Configuration Space)
Fig.3(Potential Function)

This gives the profile of velocity of the car.

OUTPUTS

This is a sample output

/  Introduction  /  Literature Review  /  Methodology  /  Example/   M ain Menu /  References  /