Path Planning with Collision Avoidance
ROS, C++, UR5, RViz, MATLAB
660.663: Algorithms for Sensor-Based Robotics
February 2018 - May 2018
As part of a course project, I implemented a sampling-based path planner to plan collision-free movements of a UR5 robot. The simulation was performed in ROS with Rviz and the Moveit! Library and the algorithm was written in C++. The effectiveness of the algorithm is demonstrated through moving an end effector through the door of a Bugatti and reaching a position near the steering wheel.