exercises – path planning
DESCRIPTION
EXERCISES – Path planning. & ROS ISSUES. By Vuk Vujovic. APPLICATIONS OF PATH PLANNING. Potential Field approach vs. graph approach. A* Algorithm - recap. http://ashblue.github.io/javascript-pathfinding/. A* approach – discussion. Manhattan distance Euclidean distance - PowerPoint PPT PresentationTRANSCRIPT
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EXERCISES – PATH PLANNING& ROS ISSUES
By Vuk Vujovic
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APPLICATIONS OF PATH PLANNING
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POTENTIAL FIELD APPROACH VS. GRAPH APPROACH
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A* ALGORITHM - RECAP
http://ashblue.github.io/javascript-pathfinding/
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A* APPROACH – DISCUSSION
• Manhattan distance
• Euclidean distance
• Which one works better for you and why?
• 4-connected or 8-connected?
• Which one is better for our case?
THINK ABOUT HOW IS YOUR ROBOT MOVING!HEURISTIC SHOULD APPROXIMATE THE OPTIMAL DISTANCE FROM CURRENT NODE TO GOAL
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ROS TF WHY AND HOW?
• System for describing relations among different coordinate frames
• Keeps track of relations for you
• Perfect for models with multiple bodies like robotic arms and humanoid robots
http://www.ros.org/news/resources/2009/nao_rviz.png
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QUESTIONS?
http://www.globalrobots.com/uploads/images/Question%20mark%20robot.jpg