robot-coordination-space
Generates a coordination space for n robots with n static obstacles residing in a 2D plane.
What is this repository for?
- Takes as input the obstacle and policy files from a working trajectory given by the MSL Library.
- Generates an n-dimensional coordination space indicating which areas result in a collision.
- Provides ability to:
- Plot 2D robot trajectories
- Plot 2D and 3D coordination space and it's collision states
- Plot 2D and 3D A* trajectory through Coordination Space, providing a safe path from start to goal configurations
How do I get set up?
- Requires the obstacle and trajectory files generated by the MSL Library
- Obstacle file must have no newlines after the last set of obstacle points
- Dependencies
- Python 2.7.6
- matplotlib 1.4.0