M-File Help: Bug2 View code for Bug2

Bug2

Bug navigation class

A concrete subclass of the abstract Navigation class that implements the bug2 navigation algorithm. This is a simple automaton that performs local planning, that is, it can only sense the immediate presence of an obstacle.

Methods

Bug2 Constructor
query Find a path from start to goal
plot Display the obstacle map
display Display state/parameters in human readable form
char Convert to string

Example

load map1             % load the map
bug = Bug2(map);      % create navigation object
start = [20,10];
goal = [50,35];
bug.query(start, goal);   % animate path

Reference

See also

Navigation, DXform, Dstar, PRM


Bug2.Bug2

Construct a Bug2 navigation object

b = Bug2(map, options) is a bug2 navigation object, and map is an occupancy grid, a representation of a planar world as a matrix whose elements are 0 (free space) or 1 (occupied).

Options

'goal', G Specify the goal point (1x2)
'inflate', K Inflate all obstacles by K cells.

See also

Navigation.Navigation


Bug2.query

Find a path

B.query(start, goal, options) is the path (Nx2) from start (1x2) to goal (1x2). Row are the coordinates of successive points along the path. If either start or goal is [] the grid map is displayed and the user is prompted to select a point by clicking on the plot.

Options

'animate' show a simulation of the robot moving along the path
'movie', M create a movie
'current' show the current position position as a black circle

Notes

See also

animate


 

© 1990-2014 Peter Corke.