Reminder: Readings are your responsibility. You will be expected to come to class prepared, having read the material, and ready to participate in the discussion
Path Planning
- For now, just focus on a mobile robot like a car
- Goal of path planning: get the robot from where it is to a destination
- Beyond that there are many variations
- What kind of map is present?
- Are the obstacles encountered known ahead of time, and can they move?
Types of maps - Graphs
- Define places where Robot can be (nodes)
- Define which ones are connected (edges)
- Edge information includes
- What path to take
- What the “cost” would be of taking that path (surface, distance, desirability)
- Planning the route becomes a graph searching problem
- Find the “cheapest” path between two nodes
Types of maps - Occupancy Grids
- Divide the “area” into a regular grid
- Indicate whether each “cell” in a grid is occupied or free
- Occupancy Grids can be multi-layer
- For example to indicate
- access for different types of vehicles
- areas that are free but discouraged
- Treat each cell in the grid as a
node with 4 or 8 edges
Thank you. Questions?
(random Image from picsum.photos)