Motion Planning - Configuration Space Generation and Planning with Gradient Descent / WaveFront

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Implementation of a 2-D 2DoF manipulator configuration space visualizer, as well as implementations of a gradient descent and wavefront planner for this manipulator.

Nicholas Rennninger

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SLOC Stats for nerds

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Language                     files          blank        comment           code
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Python                          23            730           1582           1635
YAML                            11             80            209            148
Markdown                         1             21              0             28
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SUM:                            35            831           1791           1811
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How to Run the Code

This repository uses python 3, which is managed with an anaconda environment.

Dependencies

In order to obtain all dependencies, you simply need to install anaconda for your OS, and then run from any shell with the conda command on its path:

$(REPO_DIR_LOCATION) $ conda env create -f conda/environment.yml

Running the Source Code

To run the code:

• Activate the conda environment you just created in the "Dependencies" section: $(REPO_DIR_LOCATION) $ conda activate motionPlanning2

• Run the main python module to run all of the simulations: $(REPO_DIR_LOCATION) $ python main.py

Configuring the Code

C-Space visualizer for a translating, rotating robot and obstacle

To change the scenarios for the c-space visualization simulation, simply modify one of the $(REPO_DIR_LOCATION)/config/cspace_XXX.yaml files to change the robot or obstacle vertices, or to change the location of the start / goal state or the robot.

Gradient descent planner for a point robot

To change the scenarios for the gradient descent planning simulation, simply modify one of the $(REPO_DIR_LOCATION)/config/gradient_XXX.yaml files to change the robot or obstacle vertices, or to change the location of the start / goal state or the robot, or to change the planner settings.

Wavefront planner for a point Robot

To change the scenarios for the wavefront planning simulation, simply modify one of the $(REPO_DIR_LOCATION)/config/wavefront_XXX.yaml files to change the robot or obstacle vertices, or to change the location of the start / goal state or the robot, or to change properties of the wavefront planner.

2-DOF Manipulator C-Space visualizer, inverse kinematics, and wavefront planning

To change the scenarios for the manipulator simulation, simply modify one of the $(REPO_DIR_LOCATION)/config/manipulator_XXX.yaml files to change the robot or obstacle vertices, or to change the location of the start / goal state or the robot, or to change properties of the wavefront planner.

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Results

Manipulator with Wavefront Planner

Environment 1

Environment 2

Environment 3

Point Robot with Gradient Descent Planner

Environment 1

Environment 2

Environment 3

Point Robot with Wavefront Planner

Environment 2

Environment 3