psrr is a collection of open source ROS packages for path planning of self-reconfigurable robots in constrained areas. We focus on pure geometric path planning for now and currenly only support planar-type self-reconfigurable robots with n-dimensional joints (SE(2) + R^n) and footprint-based 2D collision checking. This is currently an ongoing work and many more packages will be added to the repository to enable fully autonomous navigation for any general self-reconfigurable robots.
This nodelet uses ompl sampling-based planning algorithms to find n-dimensional geometric solution paths of the self-reconfigurable robots. Refer to this for more information of the nodelet.
Clone this package into your src folder of catkin_workspace:
cd <yr_catkin_ws>/src
git clone https://github.com/roarLab/psrr.git
Install necessary dependencies by running the following command in the root of your workspace:
cd ..
rosdep install -y --from-paths src --ignore-src --rosdistro <YOUR_ROS_DISTRO>
Then compile with catkin:
catkin_make
If you are interested in these self-reconfigurable systems, you may take a look at our T-RO paper.
- Kyaw, Phone Thiha, et al. Energy-efficient path planning of reconfigurable robots in complex environments. IEEE Transactions on Robotics (T-RO), 2022.
@article{kyaw2022energy,
title={Energy-efficient path planning of reconfigurable robots in complex environments},
author={Kyaw, Phone Thiha and Le, Anh Vu and Veerajagadheswar, Prabakaran and Elara, Mohan Rajesh and Thu, Theint Theint and Nhan, Nguyen Huu Khanh and Van Duc, Phan and Vu, Minh Bui},
journal={IEEE Transactions on Robotics},
volume={38},
number={4},
pages={2481--2494},
year={2022},
publisher={IEEE}
}