DASL Wiki

This tutorial covers the use of harmonic functions to navigate a robot through an obstacle course. Harmonic potential fields overcomes many of the shortcomings of ordinary potential fields path planning algorithms, as it utilizes harmonic functions that rid of local minima within a plane.

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This tutorial's motivation is to detail the setup of the Velodyne VLP-16 and run Velodyne's visualization software VeloView to visualize the scan data. The Velodyne Puck provides high-accuracy, extended distance sensing, and calibrated reflectivity data.

The rest of this tutorial is presented as follows:

• Properties of Harmonic Functions
• Harmonic Functions
• Uniform Flow
• Final Words

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• Sensor Data

• Mechanical/Electrical Specifications

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