Neural Potential Field for Obstacle-Aware Local Motion Planning
Muhammad Alhaddad,Konstantin Mironov,Aleksey Staroverov,Aleksandr Panov,Muhammad Alhaddad,Konstantin Mironov,Aleksey Staroverov,Aleksandr Panov
Model predictive control (MPC) may provide local motion planning for mobile robotic platforms. The challenging aspect is the analytic representation of collision cost for the case when both the obstacle map and robot footprint are arbitrary. We propose a Neural Potential Field: a neural network model that returns a differentiable collision cost based on robot pose, obstacle map, and robot footprin...
