This package computes vector fields for robot navigation in planar polygonal environments. Following the vector field guarantees safety (obstacle avoidance) and global convergence to a goal state.
- Performs fast convex cell decompositions.
- Handles point and disc robots with fully actuated, unicycle, or car-like dynamics.
- Handles fully actuated robots with polygonal bodies.
- Real-time performance.
- Status: in development
The Motion Strategy Library contains implementations of a number of motion planning algorithms. Its object-oriented design makes it fairly easy to implement and test new algorithms. MSL is maintained by Steve LaValle and his group.
- Status: available
- Link: MSL web page