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PathPlanning

This repository contains the following pkgs:

  • path planning using rrt* module and the communication module for that. The package is integrated with ROS as service (rrtStar_point, and rrtStar_msgs_point).

  • path planning using the extended-rrt* module and the communication module for that. The package is integrated with ROS as service (rrtStar_volume, and rrtStar_msgs_volume).

  • S. Karaman, E. Frazzoli, "Sampling-based algorithms for optimal motion planning", The International Journal of Robotics Research, 30(7), 846–894. link

Extended-rrt* computes a feasible path for an object/robot with a volume in the workspace, while rrt* computes the path for a point in space.

For further information, please contact:

[email protected]

TODO: there are some matlab codes for visualizations the workspace, found path, ... . It is located in stand-alone module. I should be updated later.