The Open Motion Planning Library

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Table of contents

Introduction 
1.1 Background
1.2 Problem
1.3 Research Question
1.4 Goals
1.5 Limitation
1.6 Ethic and sustainability
2 Background 
2.1 Related work
2.2 Robot model
2.2.1 Degree of freedom of the UR5
2.3 Orientation
2.3.1 Unit quaternions
2.3.2 Representation of rotations and massage transformation
2.4 Motion planning
2.4.1 Sampling Theory
2.4.2 Kinematic configuration
2.5 Motion planning tools
2.5.1 The Robot Operating System
2.5.2 MoveIt!
2.5.3 The Open Motion Planning Library
2.6 Motion planners
2.6.1 Rapidly-exploring Random Trees
2.6.2 Expansive Space Trees
2.6.3 The Kinodynamic Motion Planning by Interior-Exterior Cell Exploration
2.6.4 Path-Directed Subdivision Trees
3 Methods 
3.1 Motion planning and visualization
3.1.1 Description of ROS packages and their design purposes
3.1.2 Description of nodes and their underlying structure
3.2 Defining kinematic, visual and collision boundary of the UR5
3.2.1 Kinematics chain generation
3.2.2 Define Object’s geometry, visual and collision boundary
3.3 Algorithm benchmarking
3.3.1 Primary benchmarking
3.3.2 Second experiment
3.4 Data Collection
4 Results 
4.1 Result of primary experiment
4.2 Result of second experiment
4.2.1 Planning time
4.2.2 Path length
4.2.3 Solution smoothness
4.2.4 Memory usage
4.2.5 Number of solved cases
4.2.6 Summary of the motion planners performance
5 Discussion 
5.1 Implications of the results
5.2 Another conceivable method
5.3 Assessing reliability of the data
6 Conclusions and Future work 
6.1 Summary
6.2 Conclusions
6.3 Future work
6.4 Reflections
References 
A Essential concepts of ROS
B Flexible Collision Library
C KDL Inverse Kinematic solver