1. Numerical Integration and Rigid Body Dynamics for Potential Field Planners David Johnson

2. Recall Define the world as a potential field –Towards goal –Away from obstacles

3. Robot Motion Move down the potential field to minimum –Think about contours Which way has zero change? Which way has maximum? The directional derivative gives the rate of change in a direction: D u f(x,y) = ∇ f(x,y). u –Move along the gradient

4. Gradient Descent Evaluate the gradient, move along it some step size, repeat

5. Difficulties Determining step size can be difficult Narrow canyons difficult

6. Gradient and Force This step is the same as since force is the gradient of a potential field This is just a non-Newtonian physics simulation – replace velocity with acceleration

7. Potential Field vs Physics Simulation Potential field planner can thus also be seen as a physics simulation Robot has state (its configuration and velocities) Goal and obstacle apply forces Evolve the state of the robot

8. Physics of a Point Based on ordinary differential equation (ODE): For physics examples, the f may be constant for x, as for gravity, might also be constant for t Initial value problem –Given start state, how does it change over time? –Path of a point over time is the integral curve

9. Integral Curve

10. Common way to solve the ODE Euler’s Method Many problems –No correction, so errors build –May diverge! –Requires tiny time steps to be at all useful, so is not efficient

11. Where does error come from? Look at Taylor series For taking time steps, So

12. Euler error Euler uses only first two terms of Taylor series Error dominated by missing quadratic

13. Use higher order Runge Kutta integration –Evaluates at multiple places to cancel out error Implicit integration –Has to invert small matrix, but allows big steps

14. Midpoint method a)Compute a normal Euler integration step b)Move halfway along that change and evaluate again for a half timestep c)Move from the original spot in the direction given by b), but for a full timestep. d)This is called a second order method

15. Determine Stepsize Fixed –Simulation is only as fast as worst case Measure change in taking a step vs 2 half steps

16. Stiff ODEs Equations with large constants –Example: keep x at zero –Euler integration –Diverges if

17. Stiff ODEs Can add energy into the system Use friction to dampen the system –Prevent out of control oscillations

18. Back to potential field planner Robot is not a point –Can we do this in configuration space? Apply forces to multiple locations on robot body (n particles on robot body) –Force –Torque

19. Rigid Body Dynamics Integrate force to get new translational velocity, position Integrate angular acceleration to get angular velocity, orientation In 2D, just (x,y,  ) and (x’,y’,  ’) 3D is more complicated

20. Back to Our Robot Sample points on the robot –Compute distance to goal –Compute distance to obstacles –Compute forces from each Apply forces to each point –Accumulate total force, total torque Do Euler integration to find new position, orientation