NOTICE

This project forks from pysimiam project and remove some unneccessary file
PySimiam documents http://pysimiam.sourceforge.net/index.html

robot_path_planning

Path planning of dynamic environment with genetic algorithm and Finite State Machine

Running Project

Prerequest Library

• Numpy
• PyQt Recommend installing Anaconda Package which include all common library

Running

cd into robot_path_planning root folder, run command python qtpysimim.py

My Works

three supervisors

• /supervisors/ga.py (state machine for Quickbot)
• /supervisors/ga_k3.py (state machine for khepera3)
• /supervisors/movingobstacle.py (state machine for moving obstacle)

Three controllers

• /controllers/followpath.py (used in ga.py and ga_k3.py)
• /controllers/movingtopoint1.py (used in movingobstacle.py)
• /controllers/movingtopoint2.py (used in movingobstacle.py)

Genetic algorithm with optimal operation

• /scripts/genetic_algorithm.py

Collision detect algorithm

• /scripts/collision_detect.py