M-File Help: Bug2

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.

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.