Sunday, June 24, 2012

Configuration Space

I took a class called Algorithms for Robotics in the school. The class was interesting, except that I messed up the finals. Anyway, the assignments included finding the configuration space of a 2D robotic arm, Simultaneous Localization & Mapping etc. I thought of writing something about it here.



The configuration space of a robot allows it to calculate the possible motions it can take, given the locations of the obstacles.  The above picture represents the two angles of a 2D arm robot. Each goes from 0 to 360 degrees. The red shade indicates obstacles and the white space indicates the free space. The real world coordinates are translated by the algorithm into the above representation to make things much easier. I wrote the program in Java. It was an interesting solution since I did not use any open source libraries.

Sample input


3 11
0 0
0 1
0 2
0 3
1 0
1 1
1 2
1 3
3 2
3 3
4 3
1 2 6 5
3 4 8 7
9 10 11
3 0
2 2

Program link

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