A point robot catches another robot moving in random motion, among obstacles
A* search algorithm implementation
A* search was implemented for an omni-directional robot with a given start and goal location in a map with obstacles. The search algorithm has been implemented with 'C programming' and the link to codes can be found here below. The goal location keeps changing and the robot trying to catch the goal doesn't know it's motion beforehand.
Timer for the planner has been set at the beginning and at the end of the planner function. In a sample test run, the time taken to plan the path in each iteration was found to be less than 0.5 seconds.
R - Robot location that catches the moving robot
T - Moving target location of the robot to catch
Blue space - Free space to traverse
Yellow space - Obstacles
Motion planning for a 5-DOF planar robot to reach a desired configuration with least efforts
RRT and RRT-CONNECT algorithm implementation
RRT and RRT-CONNECT planning algorithm implementation for a 5-DOF arm using C++ programming and the link to codes can be found here below.
The planning is done for any given start and goal configuration of the links of the planar arm in the space.
A sample test image results can be found below (RRT-CONNECT)
Blue - Free space for the arm to move
Yellow - Obstacles
1. RRT-CONNECT GITHUB
2. RRT GITHUB
