Motion Strategies for a Car-Like Robot
A Final Project for CS 476, Spring 1998
by Benjamin Burnett and Tina Troutner

Explanation of Project     World 1    World 2    World 3    Home

The second world began to challenge the robot by placing a goal between the robot and the doorway to the goal. We set the maximum turning radius (PHI) to 80°, and we came up with two sample images. All images are thumbnailed, so if you wish to see more detail, just click on the image.

World 2 world2.gif (4054 bytes)

Our first example of our robot navigating through world2, we told the program to use 100 points and a maximum distance of 25 between connected points to build the map.

mapW2_100.gif (12161 bytes)  Map Developed pathW2_100.gif (4528 bytes) Path Chosen

To see the robot navigating through the world, please view our animated gif. When viewing the animated gif, the car will seem to "jump" through the space. This is because we only have the car drawn at each point in the path. As you will see in the next image, as the number of points in the path increase, the robot "jumps" decrease.

Next, we allowed the program 900 points at a maximum distance of 6 between connected points

Map Developed   mapW2_900.gif (13302 bytes) pathW2_900.gif (4663 bytes) Path Chosen

To see the robot navigating through the world, please view our animated gif.