Robotics Planning Navigation Algorithms

Assignments solved in the course Robotics: Path Planning and Navigation course by Dr. Madhav Krishna in Spring 2021.

RRT : Rapidly-exploring Random Tree

Problem statement

• Implement the RRT path planning algorithm for a robot. The robot is to navigate a two dimensional space, avoiding known locations with obstacles, traveling from its initial location to a goal location. Given localization information (robot’s initial position, obstacle location, goal location), the task is to implement a path planning decision maker to drive the robot from its initial position to the desired location.
• Specifically, the problem can be formed as follows: Consider a 2D grid instantiated with different kinds of obstacles (for instance, geometrical shapes like Rectangles, Circles, Triangles or a combination of any of the above 2/3). Assign a start and end point on this grid.
• Implement the RRT algorithm for two cases, (1) Holonomic Robot and (2) Non-Holonomic Robot.

Outputs

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Model Predictive Control Planner

Problem statement

• Implement a discrete MPC planner for omni-wheel robot. Implement the MPC algorithm for a two cases (i) With Obstacles (ii) Without Obstacles. Use solvers like cvxopt in python or any other equivalent in Matlab.

Problem formulation as an optimization

Output

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Velocity Obstacle formulation for collision avoidance

Problem statement

• Use velocity obstacle/ collision cone formulation to perform goal reaching obstacle avoidance.
• Consider the following situation for the above: A single agent is supposed to reach its goal while avoiding multiple moving obstacles.
• Consider using a cost function in order to arrive at the optimal velocity such that the agent reaches the goal while avoiding the obstacles. Select your preferred method for solving it: (a)Optimization (b) Sampling. Do the above for a Holonomic robot.

Problem formulation

Outputs