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3jsbot

Implementation of robot kinematics, control, and decision making in HTML5/JavaScript and threejs

Getting Started

  1. Clone the repo to an easly accessible location on your machine.
  2. Open cs148/home.html
  3. Play around!

Controls

  • WASD - Forward, Rotate Left, Backward, Rotate Right
  • QE - Strafe Left, Strafe Right
  • M - Generate motion plan using Rapidly-Exploring Random Trees between Robot and Goal (X on the ground)
  • NB - Move forward and backward through the steps of the motion plan
  • P - Show goal box and move robot endeffector to match its position
  • RF - Move the goal box up and down

Changing Worlds

There are a few different worlds available that make the motion plan generation more complicated. The available worlds are in the cs148/worlds folder. The world is specified at line 158 of cs148/home.html:

line 158 <script src="worlds/world_basic.js"></script>

You can change this to point to any of the worlds in the cs148/worlds folder.

Prerequisites

This currently only works on the Firefox or Edge browsers. I haven't had the chance to test it on Safari, but on Chrome it does not render correctly.