robotplanningwithdynamics

Presentation Slides

https://docs.google.com/presentation/d/1txCaKPDJr_YV9JroRbZPb395SixWiXld6-BjgnG43_s/edit?usp=sharing

Compilation

./compile.sh

After installing the controller, modify this compile file

Test

/test/testGUST.cpp : a 20 x 20 map and 4 obstacles, random control space and motion function, can modify this file to test more cases

Need to run:

./GUSTOut.out Map20 output.txt

/test/drawMap.ipynb: Python jupyter notebook to visualize output file.

Grids represent regions,

Red triangles are obstacles.

Transparency represents the heuristic value: darker means far away from goal or have obstacles in the region

Blue dots are nodes in the path.