1. Easy addition of new Motion Planning
Modules
• Software structured to make addition of new motion planning
systems easy
• Adding a new module involves three steps:
– Step 1: Create a new java file that extends the VelocityCalculator.java
and implements the calculateVelocity() that satisfies the specification:
• Input: prefered velocity, set of static and dynamic obstacles.
• Output: collision free velocity.
– Step 2: Add the name of the motion system and the associated code
(.java file) to the list of motion planning systems in PropertySet.java. A
mapping of the name to the file has to be made too.
• All the settings for a simulation are specified in an xml file that also
has a field for motion planning system to be used. To make use of
this model, simply change the appropriate field.