Lab06: Motion planning

The goal is to implement RRT algorithm for path planning and random shortcut algorithm for path simplification. It is important to implement bias toward goal in sampling algorithm for algorithm to find path in limited time given by our tests. If planner works, you can visualize paths for various motion planning problems with scripts in exercises/lab06 folder, e.g.:

../../_images/lab06_mobile_robot.gif ../../_images/lab06_planar.gif ../../_images/lab06_spatial.gif

Path simplification visualization:

../../_images/lab06_planar_simplified.gif

Tests

Optional HW:

  • robotics_toolbox/planning/rrt.py

    • implement plan function

    • implement random_shortcut function

If following tests will pass, your implementation is correct:

`bash pytest tests/hw06/optional `