Robotic Path Planner for a 2D Sphere World
This repository contains code implementing a robotic path planner in a 2D sphere world with obstacles.
The sphere world is intilized with 5 starting locations and one goal location.
The control paramter for the planner can be generated in 1 of 3 ways:
using a potential based planner,
using a navigation function,
or using a CLF-CBF formulation
The simulation results are contained in the file “output.pdf”
Note, the CLF-CBF formulation requires a Quadratic Programming solver.
Code is conatined implementing a QP solver using the cvxopt package
