Video: smoothed trajectory The PR2 robot by Willow Garage moving a box from underneath the table and leaving it on the table.
This is an example used in the TRO-13 paper.
The key data for this problem are:
Ambient space dimension | 16 |
Configuration space dimension | 4 |
Average planning time with bin/cuikatlasrrt (in seconds) | 1 |
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
- To smooth an output path:
- Visualize the smoothed path:
Definition in file pr2_table.world.
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