Fun project to learn more about motion planning for robotics
Currently just implements a basic PRM algorithm and Dijkstra algorithm to find the shortest path.
I have added some path smoothing to get a better path for a robot to follow.
I am using Pygame to visualize the environment, and road map.
Image 1: PRM with successful query of shortest path and some path smoothing applied
Image 1: PRM with an unsuccessful query of shortest path due to not fully connected graph
- Will add visualization for the cost of the edges on shortest path
- Will extend to make PRM algorithm for multi-dof robot manipulators
- Will extend to 3-D cartesian space and better collision detection