Navigating a Robot though Spring Loaded (pull) doors:

Report:

final-robot-navigation-spring.pdf
Details on implementation are in section : IV 'Implementation'

Problem:

A planning algorithm to make a mobile manipulator
pull open a spring loaded door and navigate through it.

Solution:

Lattice Based planner, using Astar .

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Structure of Planner:

Node.py contains the basic structure of Node, including getSuccs,
getHcost for heuristic cost, and so on.
astar.py conatins the main loop, and the hash table and priority queue.
main.py contains the parameter of the specific problem

Setting Robot Specs: 'main.py'

(c++ version in on the way)

Single Arm mobile manipulator:

The planner only depends on the workspace of the manipulator
(not joint configuration) which could be set in 'main.py'

The base of Manipulator

The type of locomotion (holonomic/non-holonomic) could be set
by modifying the motion primitives in 'astar.py' (c++ version is on the way).

Running the Planner

> run: main.py
main.py would use astar.py to find the states, as per the problem
specs in main.py .
The solution is printed in tree#.txt.

Visualtisation:

vismain.m (needs matlab 2016a or later version)
vismain.m reads tree.txt
robot specs have to manually changed in vismain.m