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

Our third world is the most complicated world we placed the robot in. In order to reach the goal the robot has to navigate to the "bottom" or the world, then back up through a twisting corridor. We set the maximum turning radius (PHI) to 80°, and we came up with three sample images. All images are thumbnailed, so if you wish to see more detail, just click on the image.

World 3:   

Our first example of our robot navigating through world3, we told the program to use 1500 points and a maximum distance of 10 between connected points to build the map.

Map developed

Path Chosen

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

Next, we allowed the program 200 points at a maximum distance of 25 between connected points

Map Developed

Chosen Path

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 have seen in previous images, as the number of points in the path increase, the robot "jumps" decrease.

Finally, we allowed the program 900 points at a maximum distance of 8 between connected points

Map Developed

Chosen Path

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