This assignment focuses on implementing a simulation environment for a 2-DOF planar robot arm using PyBullet. Students will also implement a control algorithm to solve the given problem. The main document for this assignment can be found here.
For additional reference, consult the following lecture slides:
Install the required Python packages:
pip install pybullet numpy
The key goal of this homework is to get an understanding of motion planning methods including A∗, RRT, and RRT∗.
To complete the assignment, students should implement the following:
- A*, RRT, RRT* for the Arm Environment.
- RRT for the Car Environment.
- Test the algorithms and analyze the results.
We will be using the Canvas for submission of the assignments. Please submit the written assignment answers as a PDF. For the code, submit a zip file of the entire working directory.