Robot Motion Planning Exercises

Exercises for the Robot Motion Planning course in summer term 2019 at TUM. Besides the homework for robot motion planning this project is intended to evaluate the breeze library for scala. As well as the awesome scalatest testing framework.

How to run

Assuming the scala build tool (sbt) is installed:

sbt run

Or create a distribution using

sbt stage

and run

target/universal/stage/bin/rmp

Example Runs

1.1 Configuration Space

• World:

• Configuration Space:

1.2 Visibility Graph

1.3 Voronoi Diagram

• World:

• Voronoi Diagram:

2.1 Probabilistic Roadmap (PRM) Pathplanning

The PRM is not connected. No solution found for the green query. 50 samples were used.

2.2 Rapidly-exploring Random Trees (RRT) Pathplanning (single tree mode)

2.3 Rapidly-exploring Random Trees (RRT) Pathplanning (symmetric bi-tree mode)