Sensory-Based Motion Planning

Project Discriptions

To navigate a point robot in a 2D plane without prior knowledge of the environment. ie) Don't know the location of the obstacles. Assumptions:
        1)    No overlapping polygons.
        2)    The perimeter of any polygon is free space.
        3)    If any point's distance to a polygon is less than or equal to a defined tolerance value it is assumed to be on the perimeter of the polygon.

The algorithm sometimes fails in some cases when the a point that was supposed to either be on an edge or at a vertex of a polygon is not quite there because it falls above the tolerance value mentioned above.

Computed Examples

We have difficutly inorder to get all the example of an animation to be posted on the web site. This is because (especially Bug1) required a few hundreds frames to animate the "robot" move to its goal. For example below, Bug1 required more than 400 frames to generate the animation.

yellow point = goal
blue point = robot
grey polygon=obstacles

Click the picture to view animation gif:
(WARNING: required a high speed connection to Internet )

Implementation Files