Bug algorithm: Difference between revisions
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'''Bug algorithm''' is a class of [[algorithm]] that helps robots deal with [[motion planning]].<ref>[http://msl.cs.uiuc.edu/~lavalle/cs497_2001/book/uncertain/node3.html BUG Algorithms].</ref><ref>{{Cite book|last=Choset|first=Howie|url=https://www.cs.cmu.edu/~motionplanning/lecture/Chap2-Bug-Alg_howie.pdf|title=Robotic Motion Planning: Bug Algorithms|publisher=Carnegie Mellon University}}</ref> |
'''Bug algorithm''' is a class of [[algorithm]] that helps robots deal with [[motion planning]].<ref>[http://msl.cs.uiuc.edu/~lavalle/cs497_2001/book/uncertain/node3.html BUG Algorithms].</ref><ref>{{Cite book|last=Choset|first=Howie|url=https://www.cs.cmu.edu/~motionplanning/lecture/Chap2-Bug-Alg_howie.pdf|title=Robotic Motion Planning: Bug Algorithms|publisher=Carnegie Mellon University}}</ref> |
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== Basic assumptions == |
== Basic assumptions == |
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*The robot is treated as a point inside a 2D world. |
*The robot is treated as a point inside a 2D world. |
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*[[Motion planning]] |
*[[Motion planning]] |
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== Reference == |
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== References == |
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Latest revision as of 02:38, 26 April 2023
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Bug algorithm is a class of algorithm that helps robots deal with motion planning.[1][2]
Basic assumptions
[edit]- The robot is treated as a point inside a 2D world.
- The obstacles (if any) are unknown and nonconvex.
- There are clearly defined starting point and goal.
- The robot is able to detect obstacle boundary from a distance of known length.
- The robot always knows the direction and how far (in terms of Euclidean distance) it is from the goal.
Algorithm
[edit]The most basic form of Bug algorithm (Bug 1) is as follows:
- The robot moves towards the goal until an obstacle is encountered.
- Follow a canonical direction (clockwise) until the robot reaches the location of initial encounter with the obstacle (in short, walking around the obstacle).
- The robot then follows the obstacle's boundary to reach the point on the boundary that is closest to the goal.
- Go back to step 1. Repeat this until the goal is reached.
See also
[edit]References
[edit]- ^ BUG Algorithms.
- ^ Choset, Howie. Robotic Motion Planning: Bug Algorithms (PDF). Carnegie Mellon University.