Path planning for everyday robotics with SANDROS

摘要

We discuss the integration of the SANDROS path planner into a general robot simulation and control package with the inclusion of a fast geometry engine for distance calculations. This creates a single system that allows the path to be computed, simulated, and then executed on the physical robot. The architecture and application procedures are presented. Also, we present examples of its usage in typical environments found in our organization. The resulting system is as easy to use as the general simulation system and is fast enough to be used interactively on an everyday basis.