Study how to integrate Potential Force Fields into zoidbots planning framework #3
Description
The issue is to find a way to integrate Potential Force Fields into the trajectory execution. In the current robot framework we are using the moveit! software for planning, this generates collision free trajectories but it is still unclear how to include reactive planning.
This is important since of the ideas of the project is to show how we can improve robot safety by using people perception to create potential force fields around the human (and where the human may be) and incorporate these virtual forces into the robot planning so they drive the robot trajectory away from the human at execution time.