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showing the path of the left-turning algorithm and the path of the right-turning algorithm. A switching Bug 0 algorithm (25 p
0 0
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Answer #1

Goal Start

Green dots known direction to goal,robot can measure.
distance d(x,y) between pts x and y otherwise local sensing walls/obstacles & encoders reasonable world

1) finitely many obstacles in any finite area
2) a line will intersect an obstacle finitely many times
3) Workspace is bounded.

W

Br(x), r <

Br(x) = { y∈ℜ(2) | d(x,y) < r }.

==>Buginner stratergy Bug0 Algorithm implements that's known direction to goal otherwise local sensing walls/obstacles & encoders
Some notation:
qstart and qgoal
“hit point” qHi
“leave point qLi
A path is a sequence of hit/leave pairs bounded by qstart and qgoal.

1) head toward goal 2) follow obstacles until you can head toward the goal again 3) continue

assume a left- turning robot The turning direction might be decided beforehand..

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