Proposal 0006: bb_motion_planning #6
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Summary
Collision-free path planning for Beam Bots using sampling-based algorithms.
Details
See
accepted/0006-bb-motion-planning.mdfor the full proposal.Key components:
BB.MotionPlanning.Scene- World model with obstacle managementBB.MotionPlanning.Planner.RRTConnect- Bidirectional RRT plannerBB.MotionPlanning.Trajectory- Time-parameterised trajectory generationBB.MotionPlanning.Pipeline- High-level orchestrationBuilds on existing
BB.Collisionfor validity checking.