Lab 7 - Motion Planning (RRT)¶
Tip
Before starting this lab, review Lecture 14 to ensure you are familiar with the material.
Motion Planning basic concepts.
Configuration space vs. Workspace: you should understand the difference between configuration space and workspace, and the advantages and disadvantages of planning in each of them.
Free space vs. Obstacle space: you should understand the difference between free space and obstacle space.
Occupancy grids and Costmaps: you should understand what occupancy grids and costmaps are, how to use them, and how to create them.
Motion Planning algorithms. You should understand the basic ideas of these following planning algorithms, their advantages and disadvantages, and when to use them.
Grid-based search: Dijkstra’s, A*, and their variants
Sampling based algorithms: RRT and its variants
Required Skills: ROS, Python/C++
Allotted Time: 1.5 week