My code base for CMU 16662: Robot Autonomy

HW1:

  • PID Controller in VREP
  • Forward Kinematics
  • Inverse Kinematics in both Damped Least Squares and Jacobian Transpose approaches

HW2:

  • RRT (Rapidly-exploring Random Tree) planner with shortened path
    rrt
  • PRM (Probabilistic Road Maps) planner
    prm