Path Planning For Disc Robot with Soft Subdivision Search and Voronoi Heuristic

Melissa Lopez & Eshan Saran

Final Project for Robotics course at NYU, Spring 2017 by Professor Chee Yap, Last Updated: Monday, May 15

TO RUN THIS PROGRAM

1. Navigate to robot-path-planning-mater in MATLAB
2. Type "GUI" into the Command Window in MATLAB
3. The interface will appear.
4. To interact with the interface, the program will take a text file in the form "envX.txt", where X is a number 0-5, for which we have provided sample environment files.
5. After selecting an environment, you can select "Show Environment."
6. After the environment is displayed, you can run HW4 SSS or Voronoi SSS.
7. Select "Show Path" once an algorithm has finished to see a final result.

Once an environment has been selected, the user may show the environment, show the subdivisions made by the SSS algorithms, then display the path taken by the robot.