Probabilistic Roadmap Planner using A* for UR5

Objective

Probabilisitc roadmaps are a sampling based planning method that aims to approximate the collision free configuration space. The planner generates random nodes within the configuration space, eliminating any nodes in collision with obstacles. The planner than generates edges between these collision-free nodes and eliminates any collision-free edges. The A* algorithm was then utilized to find the shortest path between the start and goal positions. As part of my class at JHU, ‘Algorithms for Sensor-Based Robotics’, I wrote a PRM planner in C++ and ROS2 and tested it in RVIZ and on the real-world UR5 arm.

RVIZ Simulation

Testing Using UR5

*Video coming soon!