Robot Configuration spaces, Intro2Robotics Lecture 21
Lecture 21 continues our dive into robot motion planning. This lecture focuses on configuration spaces for robots -- how they are made, how to map obstacles into the configuration space, and how to navigate.
The handout for this is located in the worksheets folder of https://uofh-my.sharepoint.com/:f:/g/...
Video snippets from:
• Steering a Plate-Ball System Despite Pertu... 5 spheres
• Robotic Ensemble Control @ Rice University : 12 RC robots
• Rolling an ensemble of spheres in one dire... : 5 discs rolling
• Distribution of Robot Swarm in Square unde... : fluid in a tank
• Shaping a Particle Swarm using Boundary Walls sliding disks
• Mapping, Foraging, and Coverage with a Pa... 100 particles
• Minkowski Sum of Polygons "Minkowski Sum of Polygons"
• Configuration Space Visualization "Configuration Space Visualization"
Webpages
http://www.lajones21.com/configuratio...
https://demonstrations.wolfram.com/Mo...
https://demonstrations.wolfram.com/Pr...
Paper figures: "Efficient Configuration Space Construction and Optimization for Motion Planning" http://engineering.org.cn/EN/10.15302...