MoveIt! motion planning library in robotics

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Nagy Ákos
Department of Automation and Applied Informatics

Robotics is the branch of technology that deals with the design, construction, operation,and application of robots. A machine capable of carrying out a complex series of actions automatically, esp. one programmable by a computers is defined as a robot. And,Obstacle avoidance refers to the ability of a robot to detect obstacles in its way if there are any and thus make its own obstacle free path.

The thesis deals with three steps: the software which handle this problem robotic operating system (ROS) where we could generate the obstacles and show them up with Rviz, the second step was the Moveit! Library which provides us tools to create the path from the start point to desired goal without collision with the obstacles around the environment and with the robot itself, the thesis will help student also to learn about motion planning because we deal with terms such us: Combining translation and rotation and Yaw, pitch, and roll rotations and 3D translation. The homogeneous transformation matrix for 3D bodies. In our case we have used a special IDE environment for ROS development which is RoboWare in order to make the ROS easier functional. It provides a work space management, code editing, building and debugging.

The project is to develop a robot that will move according to the code assigned but find a free space, navigating from any obstacle on its way. This kind of obstacle is very useful in industries where automated supervision is needed, For example, it might not always be possible to go to every places but we can send this robot which will be there making its own path and send different information. the hidden aim of the thesis to let students learn and looking to such topics like that which include software development as they design, construct, and program an autonomous robot.


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