M-File Help: Bug2 View code for 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

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


 

© 1990-2012 Peter Corke.