Homework #4
Due: Mar. 31, 2005.
Implement a PRM planner for a multi-link (at least four) robot arm.
The arm can be a simple planar arm (which will simplify the graphics),
or a 3D arm.
The arm can be composed of line segments (which will make collision
checking easier) rather than finite volume links.
On your web page, you should show the following:
- A figure that shows the environment (without the robot),
- A figure that shows the robot at all of the randomly sampled
configurations
- A movie of the robot executing a plan
Include on your web page a brief description (pdf file or html --- not MSWord)
of your approach.
This report should include all relevant equations and algorithm descriptions,
along with a description of any parameters used by your algorithm.