Motion Planning Final Project

The project is a somewhat abstract simulation of a team of robots navigating terrain while staying within communication distance of each other and various relay towers. The red circles are simulated robots that must go to the green goal circles in the upper right. Along the way they must satisfy some constraints at the end of each step: they must each be within one unit of another robot and at least one robot must be within a blue circle. My partner and I worked together to implement a relatively new search algorithm, the Rapidly-exploring Random Tree. The simulation environment is Player/Stage.

Category:

Science & Technology

Tags:

• computer
• motion
• planning
• rrt