Motion Planning

ROS motion planning with KUKA youBot base and arm

  • ECE 550: Advanced Robotic Planning class (spring 2016) final assignment
  • Coded own implementation of RRT and collision checking in ROS and Gazebo
  • Solved a collision-free path for the youBot base around several boxes
  • Solved a collision-free path for the youBot robotic arm to enter a confined space
  • RRT planner code: https://github.com/jonhoff14/youBot_RRT.
  • Potential field planner code: https://github.com/jonhoff14/youBot_potentialfields.
  • Lab partner: Usman Syed