Exploration and Implementation of Motion Planning Algorithm with Specified Optimization Goal
Jul 2019 - Sep 2019
Aqrose Technology, Beijing, China
Reviewed and synthesized literature on variances of RRT* algorithms, posted a tutorial session on video blog. Implemented a modified BIT* Algorithm using OMPL in C++ on the trajectory planner module of a Fanuc robot to avoid collision; tested on OpenRave; achieved an increase of the average clearance by 100% with less planning time. Some Sample-based Planning Algorithms Source Code RRT biRRT RRT* BIT* biBIT* BIT* with clearance penalty A introduction to BIT* algorithm and the modified version with clearance penalty
