https://github.com/rdspring1/comp450-proj3
https://github.com/rdspring1/comp450-proj3
Last synced: about 1 year ago
JSON representation
- Host: GitHub
- URL: https://github.com/rdspring1/comp450-proj3
- Owner: rdspring1
- Created: 2014-09-26T16:23:12.000Z (over 11 years ago)
- Default Branch: master
- Last Pushed: 2014-09-28T22:32:37.000Z (over 11 years ago)
- Last Synced: 2025-02-09T13:43:47.134Z (over 1 year ago)
- Language: C++
- Size: 2.03 MB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README
Awesome Lists containing this project
README
1. Implement random tree.
- derive from base::Planner, implement solve, clear, and getPlannerData (DONE)
- solve for exact solution if found (DONE)
- solve for approx path that ends in closest state to goal (DONE)
2. Create 2D environments (DONE)
- Go around
- 2 squares with corners:
- [(-0.5,0.5),(-0.5,-0.5),(-0.25,-0.5),(-0.25,0.5)]
- [(0.25,-0.25),(0.25,-0.5),(-0.25,-0.5),(-0.25,-0.25)]
- Narrow path
- 2 squares with corners:
- [(-1.0,0.5),(-1.0,-0.5),(-0.25,-0.5),(-0.25,0.5)]
- [(1.0,0.5),(1.0,-0.5),(0.25,-0.5),(0.25,0.5)]
3. Create exact collision checking methods
- point robot (DONE)
- circle robot radius = 0.1 (can change in plotsolution.py) (DONE)
- side length of square robot = 0.25 (can also change) (DONE)
4. Compute motion plans for different robot geometries using random tree.
- Visualize the world (DONE)
5. Compare random tree with PRM,EST,RRT using benchmark class
- need 20 independent runs for each planner (DONE)