Robot Path Planning Simulation

Description

This project implements a robot path planning simulation using CoppeliaSim (V-REP) software. It demonstrates the use of Dijkstra's algorithm and Breadth-First Search (BFS) for path planning, along with obstacle avoidance capabilities. The simulation features an interactive UI for controlling the robot and setting parameters.

Features

• Path planning using Dijkstra's algorithm and BFS
• Interactive obstacle generation
• Real-time obstacle avoidance
• Customizable start and end points
• Visualized path drawing
• Adjustable robot speed and sensor parameters

Requirements

• CoppeliaSim (V-REP) software
• Python 3.x
• NumPy library

Installation

1. Clone this repository to your local machine.
2. Ensure you have CoppeliaSim installed.
3. Install the required Python libraries:

Usage

1. Open the CoppeliaSim scene file (not provided in the code snippet).
2. Run the simulation in CoppeliaSim.
3. Use the interactive UI to:

• Set the obstacle percentage
• Define start and end points
• Choose between Dijkstra's algorithm and BFS
• Initiate the path planning and robot movement

Code Structure

• sysCall_init(): Initializes the simulation, sets up the environment, and creates the UI.
• _graph(): Defines the Graph class for creating and managing the navigation graph.
• run_dijkstra() and run_bfs(): Implement Dijkstra's algorithm and BFS respectively.
• move_towards_path(): Controls the robot's movement along the planned path.
• avoid_obstacle(): Implements the obstacle avoidance algorithm.
• Various UI callback functions for handling user interactions.

Key Components

1. Graph Generation: Creates a graph representation of the environment, including randomly generated obstacles.
2. Path Planning Algorithms:

• Dijkstra's algorithm for finding the shortest path
• BFS for exploring all possible paths

3. Robot Control: Functions to move the robot along the planned path and avoid obstacles.
4. Sensor Integration: Uses proximity sensors for obstacle detection.
5. Visualization: Draws the robot's path and highlights obstacles in the simulation.

Customization

You can modify various parameters in the code to adjust the simulation:

• x_scale and y_scale: Change the size of the simulation area
• velocity: Adjust the robot's movement speed
• node_radius: Modify the size of path nodes
• random_percent: Change the density of randomly generated obstacles

Contributing

Contributions to improve the simulation or add new features are welcome. Please feel free to fork the repository and submit pull requests.

License

[This Project is Open Sourced]

Acknowledgments

• CoppeliaSim (V-REP) for providing the simulation environment
• Contributors and maintainers of the NumPy library

Contact Information

linkedin: https://www.linkedin.com/in/humpheryotu/, Email: humpheryufuoma@gmail.com