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A Roadmap to Robot Motion Planning Software Development

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Rosell, Jan
Pérez Ruiz, Alexander
Abstract (Spanish)
Los programas de doctorado y los estudios de postgrado en robótica suelen incluir la planificación del movimiento entre sus temas principales. Los estudiantes que centran su investigación en este tema se ven atrapados en la necesidad de programar un entorno donde probar y validar sus aportaciones teóricas. La programación de este entorno de planificación del movimiento del robot es un gran reto. Requiere, por un lado, buenas habilidades de programación que impliquen el uso de herramientas de desarrollo de software, paradigmas de programación o el conocimiento de cuestiones de complejidad y eficiencia computacional. Por otro lado, requiere hacer frente a diferentes cuestiones relacionadas, como el modelado de objetos, los problemas de geometría computacional y las representaciones e interfaces gráficas. El dominio de todas estas técnicas es bueno para los currículos de los roboticistas con un perfil de planificación del movimiento. Sin embargo, el tiempo y el esfuerzo dedicados a este fin deben seguir siendo razonables. En este marco, el objetivo de este artículo es proporcionar a los estudiantes una hoja de ruta que les ayude en el desarrollo de las herramientas de software necesarias para probar y validar sus planificadores de movimiento robótico. Las propuestas se realizan en el ámbito del código fuente abierto multiplataforma.
Abstract (English)
PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment where to test and validate their theoretic contributions. The programming of this robot motion planning environment is a big challenge. It requires on the one hand good programming skills involving the use of software development tools, programming paradigms, or the knowledge of computational complexity and efficiency issues. On the other hand it requires coping with different related issues like the modeling of objects, computational geometry problems and graphical representations and interfaces. The mastering of all these techniques is good for the curricula of roboticists with a motion planning profile. Nevertheless, the time and effort devoted to this end must remain reasonable. Within this framework, the aim of this paper is to provide the students with a roadmap to help them in the development of the software tools needed to test and validate their robot motion planners. The proposals are made within the scope of multi-platform open source code.
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12 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/2336
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