| Robot motion planners |
Kris Beevers
(beevek@gmail.com)
Rensselaer Polytechnic Institute Algorithmic Robotics Laboratory |
Sadly for you I can't put the real documentation for these items
here, as it might help you cheat on your tests and projects if you
are a student in CSCI-4190 Introduction to Robotic Algorithms.
Instead I give you pictures and captions! (If you are a
researcher and you are set on the idea of using these planners,
please contact me for information. There is plenty of code and
some documentation, but I cannot provide any assistance beyond
that.)
0.0 Pictures of motion planners! In action!
 Fig. 1: World 1 |
 Fig. 2: World 1 With C-Space |
 Fig. 3: World 2 |
 Fig. 4: World 2 With C-Space |
Figures 1-4 show the workspace (two 'worlds', each with and without a C-space). For those not in the know, a C-space (configuration space) representation of a workspace is basically a representation of where the reference point of a robot (rather than a whole robot) can go -- it reduces the robot to a 'point', making motion planning a lot easier in some cases.
Now here are some motion planners planning motions for Mr. Triangular Robot. Sadly, I will not be explaining how they work like I do in the real documentation, though you might be able to guess and/or read a book.
0.1 Uniform Grid (2d & 3d)
 Fig. 5: Uniform Grid Planner (2d, World 1) |
 Fig. 6: Uniform Grid Planner (2d, World 2) |
0.2 Quadtree (2d)
 Fig. 7: Quadtree Planner (World 1) |
 Fig. 8: Quadtree Planner (World 2) |
0.3 Triangulation (2d)
 Fig. 9: Triangulation Planner (World 1) |
 Fig. 10: Triangulation Planner (World 2) |
0.4 Visibility Graph (2d)
 Fig. 11: Visibility Graph Planner (World 1) |
 Fig. 12: Visibility Graph Planner (World 2) |
0.5 Probabilistic Roadmap (2d & 3d)
 Fig. 13: PRM Planner (3d, World 1) |
 Fig. 14: PRM Planner (3d, World 2) |
0.6 Nonholonomic Grid Planner (2d)
 Fig. 15: NH Grid Planner (World 1) |
 Fig. 16: NH Grid Planner (World 2) |
0.7 Holonomic Refinement Planner (2d)
 Fig. 15: Refinement Planner (World 1) |
 Fig. 16: Refinement Planner (World 2) |
0.8 Nonholonomic Probabilisitic Roadmap (2d)
 Fig. 17: Nonholonomic PRM (World 1) |
 Fig. 18: Nonholonomic PRM (World 2) |