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Path Generation Using Python
Path Generation Using Python
Path Generation:
This code provides a cleaner and more beautiful interface to work with than its MATLAB equivalent.
It is written in the Python and blended with Processing, a development environment. It can be used
in laboratories to define user-generated trajectories for individual robots. Implementation for
swarm robots is still a work in progress.
This is currently on available to Linux (Debian) users - I am working on implementing this on other
platforms including Windows. Before executing this program, you will need to download the Python
module for Processing, which is avaiable in both a 32-bit and 64-bit versions.
You need to set the following environment variables before you run the script:
export PATH=$PATH:/PATH/TO/REPOSITORY/robot-trajectory-tracking
export PATH=$PATH:/PATH/TO/PROCESSING/processing.py-xxxx-linuxvv
Write these changes directly to ~/.bashrc and restart the terminal or source bashrc.
You're all set! Once all your variables have been correctly defined, all you need to do is execute the
run script.
./run.sh
run.sh is a bash script that executes the required files, so the user does not need to run each of the
files seperately. But the user-defined variables will need to be changed in each python script.
udps.py can simulate data instead of your mocap software, which is extremely useful if you need to
Specifications of the motion capture environment - room sizes, robot dimensions and colors can be
specified at the beginning of code. And other UI-related customizations such as grid spacing, font
sizes, spline smoothness etc. can also be found in the code.
Functionality:
1. Real-time reproduction of the scene from the motion capture system:
2. Drawing a trajectory with the cursor with immediate Catmull-Rom spline interpolation.