Video: planned trajectoryVideo: smoothed trajectory The PR2 robot by Willow Garage putting a sangria pitcher in a fridge.
The key data for this problem are:
| Ambient space dimension | 20 |
| Configuration space dimension | 8 |
| Average planning time with bin/cuikatlasrrt (in seconds) | 10 |
This example is treated following this steps (from the main CuikSuite folder):
- Solve the path planning problem For this, deactivate the bifurcation detection (set DETECT_BIFURCATIONS to 0) and execute:
- An alternative ways to plan existing in the literature:
- Visualize the path: Whatever the procedure used to plan
- Smooth the path:
- Visualize the path:
Definition in file pr2_pitcher.world.
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