jinmingteo/CMU_Robotics_HW2

Q2

python check_collision.py

Output:

['No', 'Yes', 'Yes', 'Yes', 'Yes', 'No', 'Yes', 'Yes']

Q3

PRM Planner Outline

The PRM planner uses 2500 num_samples, resulting in about 7 points (inclusive of qInit and qGoal). These points are then broken into 10 smaller steps using linear interpolation.

Time History Plot for Joints (ang)

LoCoBot Video