Obstacle Avoidance and Path Planning

Fall 2015, Course Project, Mobile Robotics

  • The problem assumes the radius of the robot as 0.5 units.
  • The obstacles are only rectangular in shape.
  • The area is limited to 15 x 15 units (for visualization purposes).
Reading the Plot:
  • The solid filled rectangles represent the obstacles.
  • The dotted lines around the obstacles represent the offset for the robot.
  • The green lines represent edges of the visibility graph that were not finally selected.
  • The red lines represent edges constituting the shortest path from start to goal.
  • The start and goal points have been exclusively mentioned on the plot.
  • The blue curve is the final path the robot will undertake.
  • The points marked with ‘*’ are the intermediate points.
  • Initialization of start, goal, obstacles, offsets.
  • Constructing an adjacency matrix
  • Revising the adjacency matrix based on intersection with obstacle.
  • Feeding the adjacency matrix to dijkstra(), implemented as a separate function.
  • The output of dijkstra() is used to compute the Bernstein curve, as done in the last part of the project.
  • The code is now generalized for maximum 3 intermediate points, order has been set constant at 5.
  • The graph is plotted in sequence, and can be visualized as an animation.

Graphs related to 2 testcases are shown.