[Feature]: Potential field method on local trajectory RESEARCH

[SirMDA]

Feature Description

The Potential Field Method seems to be solving a lot of problems in the Local Planning and Control, due to its robustness and generalized nature. The idea is to classify Cars, Contstruction Sites etc. as Obstructions and simulate give them a virtual Force repelling the Car away from them.
The Goal is to have a Potential Field, where the "safest" spot for the car lines up with the spot with the lowest potential in the given field.

Definition of Done

Done when a Vector to the safest location in the current scenario can be calculated out of 2d data representing the Obstructions detected by the perception (or a simulated environment).

Effort Estimate

15 h

Testability

Testing can be done by plotting the vector in an simulated environment

Dependencies

Dependant on 2d obstruction data

[seitzseb]

first prototype developed, next steps is doing it in a running environment with a simple actor moving according to the vector.

this prototype has a downward slope towards the next waypoint implemented in order to push the car forwards.
It has to be determined if this is feasible or if the potential field should only handle the lateral movement of the car.