Motion Planning for Needle Steering Robot

Overview

This is the final project for the course, "RBE 550 - Motion Planning" at WPI. In this project, the main goal was to develop a motion planning algorithm for a steerable needle robot built at AIM Lab, WPI. The detailed report can be found in the "Report" folder.

For a quick reference, here's a brief of all that was explored and implemented from scratch:

• [MATLAB] Kinematic Modelling of the needle as a modified Bicylce model.
• [C++] Spline-based RRT and RRT* algorithms for path planning in 3D space.
• [MATLAB] Duty-cycling and CURV steering methods for trajectory planning.

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Class Diagram of Path Planning Algorithms

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System Integration

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Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

```bash
$ cd catkin_workspace/src
$ git clone https://github.com/emmanuel-logy/visual_servoing_scara.git
$ catkin_make
```

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