Automatic Trajectory Planning Algorithm (RRT-connect) for Arduino Robots

About The Project

A four-degree-of-freedom robot arm is deployed to carry objects over obstacles.

• A static environment with obstacles is first created in Matlab
• RRT-connect automatically plans a feasible path which is then fitted by the B-spline to generate a smooth path
• The planned path is sent to the robot through the instructions on the windows platform, and the movement of the robot is controlled by Arduino when it receives control commands

Project Structure

Arduino_Robots
│   RRTconnect3D.m                # 3D Trajectory planning function (RRT-connect 3D)
│   Runme.m                       # Matlab file that defines the obstacles and optimize feasible path 
│   Coordiate2Angle.py            # Convert the a series of three-dimensional coordinate points into an angle sequence for the robot
│   Comm_Sender_Windows.py        # Control commands sender in Windows
│   Comm_Receiver_Arduino.ino     # Running in Arduino. Receive commands and control motors
|
└───Videos
    │   Arduino Robot.mp4         # Video showing Arduino robot movement and grasping
    │   Matlab Simulation.wmv     # robot simulation in Matlab

Environment Modeling

The Planned Path and The Path Optimized with B-spline

Simulation in Matlab and Deployment to Arduino

Contact

Minghui Ye (yeminghui1@gmail.com)