https://github.com/heethesh/probabilistic-roadmap-planner

Probabilistic Roadmap Planner with VREP Simulation for LocoBot
https://github.com/heethesh/probabilistic-roadmap-planner

carnegie-mellon-university locobot manipulation motion-planning planner prm vrep

Last synced: about 1 year ago
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Probabilistic Roadmap Planner with VREP Simulation for LocoBot

• Host: GitHub
• URL: https://github.com/heethesh/probabilistic-roadmap-planner
• Owner: heethesh
• Created: 2019-06-16T22:09:13.000Z (almost 7 years ago)
• Default Branch: master
• Last Pushed: 2019-06-16T22:39:20.000Z (almost 7 years ago)
• Last Synced: 2025-03-29T09:32:58.238Z (about 1 year ago)
• Topics: carnegie-mellon-university, locobot, manipulation, motion-planning, planner, prm, vrep
• Language: Python
• Homepage: http://www.youtube.com/watch?v=nhoNoumHrlE
• Size: 22.9 MB
• Stars: 10
• Watchers: 1
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Probabilistic Roadmap Planner

Probabilistic Roadmap Planner with VREP Simulation for LocoBot

## Simulation in VREP (YouTube Link)



## Cuboid Collision Detection using Seperating Axis Theorem

![Cuboid Collision Detection using Seperating Axis Theorem](https://github.com/heethesh/Probabilistic-Roadmap-Planner/raw/master/plots/images/collision.png)

## Probabilistic Roadmap Planner

#### Generated Roadmap with 100 Nodes

![Generated Roadmap with 100 Nodes](https://github.com/heethesh/Probabilistic-Roadmap-Planner/raw/master/plots/images/roadmap.png "Generated Roadmap with 100 Nodes")

#### Generated Roadmap with 1000 Nodes

![Generated Roadmap with 1000 Nodes](https://github.com/heethesh/Probabilistic-Roadmap-Planner/raw/master/plots/images/1000-nodes.png "Generated Roadmap with 1000 Nodes")

## LocoBot Manipulator

#### LocoBot Manipulator with Bounding Boxes

![LocoBot Manipulator with Bounding Boxes](https://github.com/heethesh/Probabilistic-Roadmap-Planner/raw/master/plots/images/Figure_1-1.png "LocoBot Manipulator with Bounding Boxes")