* **Reading:
Read PRR Chapter 10 Part 2
** *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 1. What path to take 1. 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 1. access for different types of vehicles 1. 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)