The goal of this project is to give you practice implementing the planning and control algorithms introduced in the “Search” lesson and the path smoothing in the 2nd half of the “PID Control” lesson by Professor Thrun. In each of the parts of the project, you will write a planner to guide a robot through a warehouse to retrieve and deliver packages.
In the first part, we will represent the warehouse as a grid in the manner of the planning problems from the Search lesson, and the robot and target packages will have rigid, blocky representations in this “gridworld.” In the second part, the warehouse will have a continuous instead of a discrete representation, and the robot will have to navigate carefully around corners to avoid crashing into
