MSR_waypoint_navigation is a MATLAB path planning program developed for modular self reconfigurable robots (MSRs). Given a set of robot target waypoints, the program returns the best visiting sequence that yields the lowest navigation cost. The question is modeled as a typical Travelling Salesman Problem (TSP). Path-planning techniques like A* search are implemented in this program to solve for potential solutions. The program provides real-time navigation simulation in MATLAB with visual display of robot path and navigation heatmap. Preview images of the simulation are shown below.
Please cite any of our paper if you use the code for your research.
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Graph Theory-Based Approach to Accomplish Complete Coverage Path Planning Tasks for Reconfigurable Robots (Link to Paper)
- Citation through BibTeX:
@article{ku2019, author={P. C. {Ku} and R. E. {Mohan} and N. H. K. {Nhan} and A. V. {Le}}, journal={IEEE Access}, title={Graph Theory-Based Approach to Accomplish Complete Coverage Path Planning Tasks for Reconfigurable Robots}, year={2019}, volume={7}, pages={94642-94657} } -
Complete Path Planning for a Tetris-Inspired Self-Reconfigurable Robot by the Genetic Algorithm of the Traveling Salesman Problem (Link to Paper)
- Citation through BibTeX:
@article{le2018, author = {Le, Anh Vu and Arunmozhi, Manimuthu and Veerajagadheswar, Prabakaran and Ku, Ping-Cheng and Minh, Tran Hoang Quang and Sivanantham, Vinu and Mohan, Rajesh Elara}, title = {Complete Path Planning for a Tetris-Inspired Self-Reconfigurable Robot by the Genetic Algorithm of the Traveling Salesman Problem}, journal = {Electronics}, volume = {7}, year = {2018}, number = {12}, DOI = {10.3390/electronics7120344} }
Feel free to contact me through pku1@jhu.edu if you have any questions.