Introduction

SGMP is a path/motion planning plugin for V-REP, a robot simulator developed by Coppelia Robotics. To minimize the effort of developing entire simulator, we utilize integrated development environment of V-REP which contains 3 different collision detection(Bullet physics, ODE(Open Dynamics Engine) and Vortex), dynamic simulation, visualizer, scene editor, catchy UI etc. For this reason, SGMP only focuses on the implementation of motion planning, especially sampling-based motion planning algorithms such as RRT, RRT* and their variants.

More Features are under development for easy analysis and testing.

System Requirements

  • OS: Microsoft Windows, Mac OSX, Linux
  • V-REP: Fully tested on 3.1.3 version You can download educational version of V-REP here.