Periscope Folding Model
Created by Guang Song, Parasol MP Group, CS Dept, Texas A&M University

The periscope folding problem is a motion planning problem where the objective is to fold the articulated model into its final periscope shape. There are no external obstacles in the enviroment, but self-collision among the links (connected by revolute joints) must be avoided.

The model consists of 12 parts, each of which is a rectangular piece. One is considered the fixed base, and 11 are considered links. The model is available in BYU format, with each piece (1 fixed base and 11 links) represented in a separate file. The linkage information is contained in an environment file, which is in our env format. The environment file gives the pieces in the start configuration shown below.

Start

Goal

Tar File (BYU and env files) ( BYU format   env format )

We solved this problem using our OBPRM planner. More details can be found here . Some snapshots of the solution path are shown above. For a better look, you can view a movie (avi)

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