Tuesday, August 24, 2010

Homework 1

After many failed attempts to get OPENRave to work on Windows, I finally decided to use RoboMind for the assignment. Motion commands in RoboMind is pretty elementary, making coding of complex scenarios very tedious.

Below is a video link on youtube showing the robot finding its way to its goal (a beacon), circumventing an obstacle.  It traces the white line and when encounters an obstacle, "feels" around it till it reaches the remainder of the white line, from where it reaches the finish


However the algorithm is still work in process and needs few additions to it. It seems fail in cases where the obstacle touches the boundary wall as in an example map shown below.

Balu Nair


  1. Hello, I found one amazing book about Motion Planing, which covers new results or developments from different research backgrounds and application fields. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. This book is good especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system. You can download it for free here: http://www.intechopen.com/books/show/title/motion_planning or just read on online reading platform like I do. Great! Isn’t it?

  2. OpenRAVE now has a Windows Installers making it really simple to use for Windows: