Lecture 6 24-354 General Robotics
Fall-05. Prof. Howie Choset
Inspiration for interest in robotics
Wish to augment the capabilities of a human
Wish to avoid having a human do dangerous or undesireable work
Wish to benefit human life. (Biomedical applications)
They are just plain fun.
Motion Planning
Motion planning is concerned with how a robot traces a trajectory (velocities/accelerations); Path planning is only concerned with the generation of a path to follow.
Applications for path planning include:
Navigation
Mapping
Coverage
An obstacle is convex if all points on a line connecting any two points in the object belong to the object.
A path planner is complete if it returns a path in a finite time or returns that no path exists in a finite time.
The BUG 2 Algorithm
Head toward the goal in a straight line.
If you hit an obstacle, circumvent it until you reach the line connecting the start and goal, called the mline.
If the leave point is closer to the hit point continue toward the goal in a straight line
Else, continue around the obstacle
If you return to the same hit point without defining a leave point, then you have gone completely around the obstacle and the goal is not reachable (return failure.)