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Welcome to the first2017mp wiki!
This began as a motion planning problem posed by Valkyrie Robotics, a FIRST Robotics team for the 2017 season. The challenge is to automatically find a path to goal from any position and heading within striking distance of the goal.
As many FIRST robotics teams will attest, some designs don't make it into the competition robot. Likewise, this was not deployed in the competition robot because of competing priorities and resource constraints. Valkyrie Robotics was a first year team in 2017 and as such was very scrappy; however, there wasn't time to integrate it and its dependencies. This approach required a state estimation system that could determine the position and heading of the robot on the field from several sensors, including vision, gyro, accelerometer, and wheel position sensors. It also required integration into the drivers' controls and driving strategy. However, compared to other teams who invested thousands of dollars into hardware only to scrap it before competition, the cost of this investigation was primarily coding time. Nonetheless it was instructive as to what could be achieved with circular arcs and quickturns, which was very useful knowledge to have because the motor control system was designed around circular arcs and quickturns.
See first2017mp/wiki/Background for background, summary results, and pointers to additional visualizations and simulation results.
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