RobWorkProject  6.6.6
Motion planning

Table of Contents

Introduction

Motion planning is about planning a collision free path from one robot configuration to another, avoiding any obstacles in the workspace. In the core RobWork library (rw::pathplanning namespace), there is an interface for such planners called QToQPlanner. RobWork provides a pathplanning library with implementation of various planning algorithms. These are found under the namespace rwlibs::pathplanners and implements the QToQPlanner interface:

See the documentation for each of these classes for references to litterature and more information about possible variants of the algorithms.

RobWorkStudio Planning Plugin

RobWork C++

RobWork Python

RobWork Java

RobWork LUA

LUA in RobWorkStudio