MSR_waypoint_navigation

MSR_waypoint_navigation is a MATLAB path planning program developed for modular self reconfigurable robots (MSRs). Given a set of robot target waypoints, the program returns the best visiting sequence that yields the lowest navigation cost. The question is modeled as a typical Travelling Salesman Problem (TSP). Path-planning techniques like A* search are implemented in this program to solve for potential solutions. The program provides real-time navigation simulation in MATLAB with visual display of robot path and navigation heatmap. Preview images of the simulation are shown below.

       

Software

• MATLAB

Publications

Please cite any of our paper if you use the code for your research.

• Graph Theory-Based Approach to Accomplish Complete Coverage Path Planning Tasks for Reconfigurable Robots (Link to Paper)

  • Citation through BibTeX:

  @article{ku2019,
  author={P. C. {Ku} and R. E. {Mohan} and N. H. K. {Nhan} and A. V. {Le}},
  journal={IEEE Access}, 
  title={Graph Theory-Based Approach to Accomplish Complete Coverage Path Planning Tasks for Reconfigurable Robots}, 
  year={2019},
  volume={7},
  pages={94642-94657}
  }
  

• Complete Path Planning for a Tetris-Inspired Self-Reconfigurable Robot by the Genetic Algorithm of the Traveling Salesman Problem (Link to Paper)

  • Citation through BibTeX:

  @article{le2018,
  author = {Le, Anh Vu and Arunmozhi, Manimuthu and Veerajagadheswar, Prabakaran and Ku, Ping-Cheng and Minh, Tran Hoang Quang and Sivanantham, Vinu and Mohan, Rajesh Elara},
  title = {Complete Path Planning for a Tetris-Inspired Self-Reconfigurable Robot by the Genetic Algorithm of the Traveling Salesman Problem},
  journal = {Electronics},
  volume = {7},
  year = {2018},
  number = {12},
  DOI = {10.3390/electronics7120344}
  }
  

Contact

Feel free to contact me through pku1@jhu.edu if you have any questions.