gmeidk / cbirrt

CBiRRT algorithm for manipulator robot implemented in Matlab.

CBiRRT

CBiRRT algorithm for manipulator robot implemented in Matlab.

About The Project

The Constrained Bidirectional Rapidly Exploring Random Tree (CBiRRT) Algorithm for path planning is implemented for a robot manipulator in Matlab. The implementation is carried out by referring to the following papers:

1. Berenson, D., Srinivasa, S. and Kuffner, J. (2011) ‘Task Space Regions: A framework for pose-constrained manipulation planning’, The International Journal of Robotics Research, 30(12), pp. 1435–1460. doi: 10.1177/0278364910396389.
2. Berenson, Dmitry & Srinivasa, Siddhartha & Ferguson, Dave & Kuffner, James. (2009). Manipulation planning on constraint manifolds. 625-632. 10.1109/ROBOT.2009.5152399.

Built With

• MATLAB
• Robotics System Toolbox

(back to top)

Function description

CBiRRT

[path, debug] = CBiRRT(n_start,n_goal,robot,TSR,check_self_collision,max_step,eps,max_iteration)

In order to execute the CBiRRT function you must provide the following input parameters :

Input Parameter	Description	DataType
n_start	starting configuration node	Node
n_goal	goal configuration node	Node
robot	robot model	rigidBodyTree
TSR	Task Space Region	TSR
check_self_collision	enable robot self collision	bool
max_step	max distance update configuration	float
eps	TSR tolerance	float
max_iteration	stop condition	int

The function provides the following outputs:

Output	Description	DataType
path	set of nodes that compose the path	array(Node)
debug	structure for debugging	struct

The "CBiRRT" algorithm is composed by the following functions:

• RandomConfig
• NearestNeighbor
• ConstraintExtend
• ProjectConfig

The listed functions are described in the papers cited previously [1],[2].

ShowPath

ShowPath(path,robot,new_fig)

Shows the path given as input in the operational space.

AnimatePath

AnimatePath(path,robot,duration)

Sets the figure showing the starting configuration of the robot, the goal configuration and the animation of the robot during the computed path in the operational space.

ShowTree

ShowTree(robot,Ta,Tb)

Shows the nodes belonging to the two different trees in the operational space.

Usage

An usage example is reported in the example.m file.

Roadmap

• Implementation of the Node and Tree classes and their related functions.
• Implementation of the BiRRT algorithm.
• Implementation of the TSR class and of the CBiRRT algorithm.
• Implementation of the robot self collision check.
• Update README.
• Improve the algorithm's efficiency.
• Implement ConstraintConfig function and TSR Chain.
• Implement AddRoot function.
• Implement SmoothPath function.

(back to top)

MATLAB Simulation

MATLAB.Simulation.mp4

(back to top)

Contact

Alessandro Quatela - @qualex97 - [email protected]

Giuseppe Roberto - @gmeidk - [email protected]

Project Link: https://github.com/gmeidk/CBiRRT

(back to top)