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obstracle-avoiding-robot

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MedisettiRenukeswar / rapidly-exploring-random-tree-obstacle-avoidance-2d-arm

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Python simulation of a 2-link robotic arm performing obstacle-aware motion planning using RRT (Rapidly-exploring Random Tree) in workspace. The planner finds a collision-free path for the end-effector and the robot executes it using Inverse Kinematics (IK). Demonstrates the fundamentals behind MoveIt / OMPL-style planning.

python robotics motion-planning rrt path-planning inverse-kinematics matplotlib control-systems forward-kinematics robotic-arm trajectory-planning 2d-simulation rrt-planner obstracle-avoiding-robot
  • Updated Nov 24, 2025
  • Python

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