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Robotic Motion Planning: Bug Algorithms

16 735, Howie Choset with slides from Hager and Z. DoddsRobotic Motion Planning: Bug AlgorithmsRobotics Institute 16 735 ~motionHowie ~choset16 735, Howie Choset with slides from Hager and Z. DoddsWhat s Special About Bugs Many planning Algorithms assume global knowledge Bug Algorithms assume only local knowledge of the environment and a global goal Bug behaviors are simple: 1) Follow a wall (right or left) 2) Move in a straight line toward goal Bug 1 and Bug 2 assume essentially tactile sensing Tangent Bug deals with finite distance sensing16 735, Howie Choset with slides from Hager and Z. DoddsA Few General Concepts Workspace W (2) or (3) depending on the robot could be infinite (open) or bounded (closed/compact) Obstacle WOi Free workspace Wfree= W \ iWOi16 735, Howie Choset with slides from Hager and Z.

16-735, Howie Choset with slides from G.D. Hager and Z. Dodds Insect-inspired •known direction to goal •robot can measure distance d(x,y) between pts x and y •otherwise local sensing walls/obstacles & encoders

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