Lab 1: Motion planning

Lab 1 - Path planning for a robot with car dynamics.

In this lab you will use the tools you have learned in computer exercises and transfer them to an actual physical process, namely a robot with car dynamics. The goal of the lab is to use lattice planning and RRT to "park" the robot.

 

Prerequisites

Before the lab you must have completed

• Computer Exercise 2.2
  • You should have a functioning version of astar.jl
• Computer Exercise 3.1
  • You should have a functioning version of rrt.jl

These .jl-files will actually be used in the lab, so there is no way around having them unfortunately. At the lab the supervisor will discuss your codes briefly, so make sure you don't just copy-paste someone else's solution or you will be sent home.

 

Location

The lab is held in "Lab B", which is in the M-building on the 2nd floor. It is in the corridor on the east side.

 

Lab instructions

You don't need the instructions for the lab before the lab. They will be available over jupyter hub in a notebook format. You will be able to use either the lab computers or your personal laptop depending on your preference.