Demo 2 Assignment
Robotics (ICSI 552 & ECE 451/551)
September 2021
1 Introduction
In this assignment we will learn how a path planning algorithm works. You are
given a CoppeliaSim scene (path planning.ttt) (Figure 1). In this scene, there is
a bounding box indicating the environment boundaries. There are some static
obstacles in the environment, as well as, a differential drive robot ”Pioneer 3-
DX”.
Figure 1: Path Planning Environment
The robot’s Start and Goal locations are:
Start: −1.49447155,−1.749998569, 0.1387930661
Goal: 2.130528212, 1.775000691, 0.1387930661
Use this scene to search the robot’s path from its start position to the goal
and then back to its original start position. In this process, you need to store
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the path in some data structure so that you can move the robot back to its
original position.
Following is a list of functions that can be useful in completion of this task:
Lua API Python API Usage
simGetObjectHandle() simxGetObjectHandle() Returns the object handle
(integer ID) of any entity
within the environment.
simGetObjectPosition() simxGetObjectPosition() Returns the position
of any entity within
the environment with
the objectHandle.
Must specify
relativeToObjectHandle =
−1 for an absolute posi-
tion of the object relative
to the world frame.
simSetObjectPosition() simxSetObjectPosition() Sets the position of
any entity within the
environment with the
objectHandle.
simGetObjectOrientation() simxGetObjectOrientation() Returns the orientation
of any entity within the
environment with the
objectHandle.
simSetObjectOrientation() simxSetObjectOrientation() Sets the orientation of
any entity within the
environment with the
objectHandle.
simCheckCollision() simxCheckCollision() Checks the collision sta-
tus between two enti-
ties within the environ-
ment with their respective
objectHandle. Returns 0
is no collision.
2 Submission Instruction
Submit all the code files (Python or Matlab) including the scene (’.ttt’) files (if
made changes to the Lua script) that will aid in demonstrating the code.
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