PYTHON package including CAMIS and biOUM path planner
Author: J. Ricardo Sánchez Ibáñez
Supervisor: Carlos J. Pérez del Pulgar
Contact info: ricardosan@uma.es
Affiliation: University of Malaga, Space Robotics Lab
The main purpose of this repository is to provide the resources needed to create a CAMIS for any mobile robot that must traverse irregular terrain. Besides, it is also provided the implementation of a fast and continuous anisotropic planner, based on the bi-directional Ordered Upwind Method (bi-OUM).
CAMIS is basically a method to make a path planner acknowledge the fact that the direction and magnitude of any slope takes influence on the performance of a mobile robot.
To demonstrate its utility, it is also provided an example in which a experimental robot and terrain from the University of Malaga are employed.
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Collect robot data, in the form of cost values together with their associated robot orientations (using roll-pitch-yaw angles).
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Compute the 4 CAMIS directional functions: Descent Cost, Ascent Cost, Lateral Cost 1 and Lateral Cost 2.
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Get a DEM and compute the slopes.
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Prepare a triangular grid in which each node has associated a value of gradient and an aspect vector.
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Execute biOUM using CAMIS to obtain an optimal and feasible path.