In this project we were to deliver a software infrastructure for robot motion planning.
We were to implement it using the open source code library Open Motion Planning Library in python, and for Ubuntu 18 operating system.
In the future the infrastructure could easily be used in more complex problems of robot Motion Planning in multi space environment with obstacles.
In order to present a properly working infrastructure we were to implement an algorithm that results with a path from and to a given pair of start and goal points in a 2D space environment.
We were to enable the infrastructure to work with limited time, and with obstacles.
We used the RRT algorithm that is implemented in OMPL (Open Motion Planning Library).
In addition, we were to implement an API that allows the user to set up an environment for the algorithm to work on.
The environment configuration contains the size of the environment (height and width), number of the obstacles, their size and location, and the total number of the start-goal pairs.
The API enables random generation of the start-goal pairs.
Eventually we ran the algorithm with 1000 start-goal pairs and 10 different space configuration setups to see that the algorithm solving the problems as desired.