FourRX60.world File Reference

Detailed Description

Here we have four Rx60 robots (see Serial6RRX60.world) cooperating to move a large object.

This example is modelled after the PhD thesis of Juan Cortés.

This example was used in our TRO-13 paper.

The key data for this problem are:

Ambient space dimension	24
Configuration space dimension	6
Average planning time with bin/cuikatlasrrt using a DOF-based representation (in seconds)	16

This example is treated following these steps (from the main CuikSuite folder):

• Adjust the parameters: Different algorithms use different parameter settings. Just check the parameter file (Rotational.param) and uncomment the appropriate lines.
• Solve the path planning problem: using a RRT-like algorithm
  • bin/cuikatlasrrt examples/TwoRX60/FourRX60
• Visualize the solution path:
  • scripts/cuikplayer examples/TwoRX60/FourRX60 examples/TwoRX60/FourRX60_path
• Smooth the path:
  • bin/cuiksmoothpath examples/TwoRX60/FourRX60
• Visualize the smoothed solution path:
  • scripts/cuikplayer examples/TwoRX60/FourRX60 examples/TwoRX60/FourRX60_spath

Definition in file FourRX60.world.