Motion Planning - Bug Algorithms and Kinematics

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Implementation of Bug Algorithms and Basic Forwards / Inverse Kinematics Equations.

Nicholas Rennninger

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How to Run the Code

This repository uses python 3, which is managed with an anaconda environment.

Dependencies

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

Running the Source Code

To run the code:

• Activate the conda environment 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

Configuring the Code

Bug Algorithm Configuration To change the scenarios for the bug algorithm code, simply modify one of the $(REPO_DIR_LOCATION)/config/scenarioX.yaml files to create a new set of obstacles, or to change the location of the start points.

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Results