Path Planning

For our final chapter of the semester, we will cover path planning.

What you will learn

  • About the path planning problem statement.
  • Path planning algorithms.

Terminology

path planning
the problem of finding a path from a start point to a goal point that avoids obstacles

Lecture

Links

Introduction to path planning

If you’re curious, you can find a floor plan for Edmunds 105 using “Floor Plan Creator”.

Path planning algorithms

The obstacle inflation widget can be found here. And the following video is a pretty demonstration of the A* algorithm:

Exercise

You will submit your responses on gradescope. Only one partner should submit. The submitter will add the other partner through the gradescope interface.

Additional details for using gradescope can be found here:

You should open the gradescope assignment now so that you know what to work complete.

Grading

I will grade all exercises using a scale of “Nailed It” / “Not Yet”. See the course grading policy for more information, and check gradescope for deadlines.

Overview

You task is to extend your simulation so that it takes a map of Edmunds, performs a BFS to find a path any position to any other position, and then uses that path to move the robot.

Wrap-Up

That’s it! As I mentioned in class, I’ll demo the vision module, and you are welcome to play around with it, but I will not require you to use it for an exercise.

Resources