Path Planning w/ Rapidly-exploring random tree Algorithm

The objective of this project is to implement and test path planning capabilities for Cozmo, specifically the RRT algorithm. Cozmo’s goal during this demonstration will be to find a specific cube face and navigate to it while accounting for obstacles. My implementation should identify a target cube and use RRT to find a path to a specific face, follow the path found by RRT, and re-plan (reset and run RRT again) to avoid any obstacle cubes that are added during navigation. As the behavior is running the map should be updated to reflect any new cubes that Cozmo sees. New cubes may become visible (or be added), but existing cubes will not move. Note that if the target cube is not visible from Cozmo’s starting location, Cozmo should navigate to the arena center to look for it and navigate to it once it is seen.

Built With

• python