Motion planning for high DOFs’ robots

In real life, some robots are designed with high DOFs to solve complicated problems. Also, robots are always required to avoid obstacles in the environment and search for a specific path(e.g. shortest path). As the number of DOF increases, the search complexity will grow exponentially and finally becomes intractable.

In this project, some sampling-based search algorithms are used to solve the above problem. RRT-Connect algorithm and RRT-Star motion planner are implemented to make robots with high DOFs move back from arbitrary configuration in the world to their initial configuration. All the DOFs are zero in its initial configuration.