For optimal viewing of this document (and all *.md files), try opening it in a text editor that supports syntax highlighting for markdown *.md files (e.g. Sublime Text 2+).
Implementation of Bug Algorithms and Basic Forwards / Inverse Kinematics Equations. Results of the implentation include:
- plots of the path performance of the different bug planning algorithms on multiple environments
- plots of the results of running forwards / inverse kinematics on a user specified 2-link manipulator
This repository uses python 3, which is managed with an anaconda environment.
In order to obtain all dependencies, you simply need to install anaconda for your OS, and then run from any shell with the conda command on its path:
$(REPO_DIR_LOCATION) $ conda env create -f conda/environment.yml
To run the code:
-
Activate the
condaenvironment you just created in the "Dependencies" section:$(REPO_DIR_LOCATION) $ conda activate motionPlanning1 -
Run the main python module to run both the bug algorithms and kinematics codes:
$(REPO_DIR_LOCATION) $ python main.py
To change the scenarios for the bug algorithm code, simply modify one of the $(REPO_DIR_LOCATION)/config/bug_scenarioX.yaml files to create a new set of obstacles, or to change the location of the start / goal points.
To change the scenarios for the manipulator code, simply modify one of the $(REPO_DIR_LOCATION)/config/manipulator_scenarioX.yaml files to change the arm link lengths, the joint offset, the forward kinematics desired angle set, or the inverse kinematic desired end effector location.
