Introduction to Potential Fields applied to controlling multiple robots

• Grant number: 13/25840-1
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: February 01, 2014
• End date: January 31, 2015
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computational Mathematics
• Principal Investigator: Roseli Aparecida Francelin Romero
• Grantee: Lucas Tomazela
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This project aim the study of planning path using potential fields techniques known as Harmonic Potential Fields (HPF), Oriented Potential Fields (OPF) and Locally Oriented Potential Field (LOPF). Such techniques are based on the solutions of Boundary Value Problem (BVP) of Elliptic Partial Differential Equations (PDE). Will be studied and implemented parallelized versions, in CPU, of these techniques. Also, experiments will be conducted in the robot soccer simulator USPDroidsSS, developed by USPDroids team from the University of São Paulo (USP) and real robots developed by the same team.