P3DX Potential Fields Navigation

ROS package for autonomous navigation of Pioneer P3-DX robot using potential fields algorithm in Gazebo simulation.

Prerequisites

• ROS Noetic (recommended)
• Ubuntu 20.04
• Gazebo (comes with ROS desktop-full installation)
• Pioneer P3DX packages:

  git clone https://github.com/mario-serna/pioneer_p3dx_model.git ~/catkin_ws/src/p3dx_gazebo

Installation

1. Clone this repository to your catkin workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/Jakson-Almeida/p3dx_potential_fields.git

2. Build the package:

   cd ~/catkin_ws
   catkin_make
   source devel/setup.bash

Usage

Basic Simulation

Launch the Gazebo simulation with potential fields navigation:

roslaunch p3dx_potential_fields p3dx_world.launch

Interactive Control

1. In a new terminal, start the potential fields:

   rosrun p3dx_potential_fields p3dx_potential_field.py

Enter goal coordinates when prompted in the terminal.

2. In a new terminal, start the visualization:

   rosrun p3dx_potential_fields p3dx_view.py

3. In the visualization window:

   • Press SPACE to clear the visualization
   • Use mouse scroll to zoom in/out

Nodes

p3dx_potential_field.py

• Implements potential field algorithm
• Subscribes to:
  • /RosAria/odom (robot pose)
  • /RosAria/laser/scan (laser data)
• Publishes to:
  • /RosAria/cmd_vel (velocity commands)

p3dx_view.py

• Visualization tool showing:
  • Robot position (blue)
  • Obstacles (red)
  • Trajectory (green)

potential_fields_and_visualization.py

• Implements potential field algorithm
• Subscribes to:
  • /RosAria/odom (robot pose)
  • /RosAria/laser/scan (laser data)
• Publishes to:
  • /RosAria/cmd_vel (velocity commands)
• Visualization tool showing:
  • Obstacles (red)
  • Trajectory (green)
• Interactive goal input via terminal

Parameters

You can adjust these parameters in the code:

• K_att: Attractive force gain
• K_rep: Repulsive force gain
• epsilon_0: Influence distance of obstacles
• v_max: Maximum linear velocity
• omega_max: Maximum angular velocity
• tol: Goal tolerance distance

Customization

1. To change the world:

   • Modify worlds/mundo_corredor.world
   • Update the path in the launch file

2. To tune the potential fields:

   • Edit the parameters in p3dx_potential_field.py