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# Bug2

Bug navigation class

A concrete subclass of the 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

path | Compute a path from start to goal
visualize | Display the obstacle map (deprecated)
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

    bug.goal = [50, 35];  % set the goal

bug.path([20, 10]); | % animate path to (20,10)

## Reference

- Dynamic path planning for a mobile automaton with limited information on the environment,, V. Lumelsky and A. Stepanov, IEEE Transactions on Automatic Control, vol. 31, pp. 1058-1063, Nov. 1986.
- Robotics, Vision & Control, Sec 5.1.2, Peter Corke, Springer, 2011.

## See also

Navigation, DXform, Dstar, PRM

# Bug2.Bug2

bug2 navigation object constructor

b = Bug2(map) 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

© 1990-2014 Peter Corke.