Modern Robotics in the Browser
A WebGL and WebAssembly playground for forward kinematics, inverse kinematics, planning, and dynamics.
8 docs tagged with "motion-planning"
View all tagsModern Robotics, Part 6A — Dynamics, Control, and Motion Generation
A deep-dive connecting kinematics, twist-based motion generation, and dynamics to task-space control and robot motion generation.
Modern Robotics, Part 6B — Trajectories, Constraints, and Motion Planning
A continuation of the kinematics-to-planning story, focused on trajectory generation, time scaling, constraints, and the geometry behind motion planning.
Optimal Parking in the Browser
An interactive browser page for geometric planning and optimal parking trajectory generation.
Optimal Parking Series Summary - From Sampling to Optimized Trajectory
A compact map of the Optimal Parking planner, from the kinematic bicycle model and RRT* seed to sequential QP refinement and browser execution.
Optimal Parking, Part 1 - Problem Definition and the Kinematic Bicycle Model
The parking problem, its state and input variables, and the five-state kinematic bicycle model used by the planner.
Optimal Parking, Part 2 - RRT* as an Initial Path Planner
Why RRT* is used to generate a collision-free geometric path before trajectory optimization.
Optimal Parking, Part 5 - Obstacles, Bounds, and Feasibility
How vehicle bounds, input limits, obstacle constraints, and penalties shape a feasible parking trajectory.