Path Planning with Collision Avoidance

ROS, C++, UR5, RViz, MATLAB

660.663: Algorithms for Sensor-Based Robotics

February 2018 - May 2018

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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.

Mechanical Engineer

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