Path planner for Self-Reconfigurable Robots

Overview

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.

ROS Nodelets

psrr_planner/PsrrPlannerNodelet

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.

Installation

Build from source

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

Citation

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}
}