Navigation · Sampling-Based and Kinodynamic Planning · M4-L1 · Intermediate
Collision-Check a Footprint
14:05. Scout is towing a linen cart down the service corridor. The cart is wider than the robot and trails a metre behind it. The planner calls the route free, and the cart clips a pillar by the lift.
The planner checked the robot's centre, not the cart. You will check the whole footprint at one pose, then a straight edge between two poses, then a path whose heading turns.
Your task
Lab complete: post-mortem
You have passed every stage. Now connect it back to the theory and move on:
Output
Ctrl+Enter runs
What Python can I use?
Plain Python with math and heapq. Your code runs in a background worker: an endless loop is stopped after a few seconds and the page stays usable. It runs in your browser and is never sent anywhere.