M-File Help: Bug2 View code for Bug2

Bug2

Bug navigation class

A concrete subclass of Navigation 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 occupancy grid
display Display the state/parameters in human readable form
char Convert the state/parameters to human readable form

Example

load map1
bug = Bug2(map);
bug.goal = [50; 35];
bug.path([20; 10]);

See also

Navigation, DXform, Dstar, PRM


Bug2.Bug2

bug2 navigation object constructor

b = Bug2(map, goal) as above but specify the goal point.

See also

Navigation.Navigation


 

© 1990-2011 Peter Corke.