CppCon 2024

In the realm of robotics, motion planning is crucial for enabling robots to navigate complex
environments. One of the most effective algorithms used for this purpose is the Rapidly-exploring
Random Tree (RRT), renowned for its ability to handle high-dimensional search spaces. As a
junior engineer, learning C++ has been an exciting challenge, especially when applying it to
robotics. In this talk, I will share my journey of implementing the RRT algorithm in C++, with a
focus on robotic arms and how this experience has helped me grasp essential programming
concepts. It will also cover the basic motion planning process for a robot arm.

By focusing on key C++ features like classes, pointers, and Standard Template Library, I will
demonstrate how these foundational concepts enable the creation of an efficient motion planner.
We’ll explore how the RRT algorithm works, specifically in the context of robotic arms,
navigating obstacles, and finding a path from start to goal. Through a practical example, I’ll walk
through the use of pointers to manage nodes, dynamic memory allocation, and basic control
structures, showing how even foundational C++ methodologies can be used to build robust
applications. This session is ideal for fellow beginners or those looking to understand how C++
can be used to solve practical robotics challenges. Join me as I reflect on my learning process and
the lessons I’ve gathered along the way.