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Bug Algorithm
Bug algorithm is a class of algorithm that helps robots deal with motion planning. Basic assumptions *The robot is treated as a point inside a 2D world. *The obstacles (if any) are unknown and nonconvex. *There are clearly defined starting point and goal. *The robot is able to detect obstacle boundary from a distance of known length. *The robot always knows the direction and how far (in terms of Euclidean distance) it is from the goal. Algorithm The most basic form of Bug algorithm (Bug 1) is as follows: #The robot moves towards the goal until an obstacle is encountered. #Follow a canonical direction (clockwise) until the robot reaches the location of initial encounter with the obstacle (in short, walking around the obstacle). #The robot then follows the obstacle's boundary to reach the point on the boundary that is closest to the goal. #Go back to step 1. Repeat this until the goal is reached. See also *Pathfinding *Motion planning Motion planning, also path planning ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Algorithm
In mathematics and computer science, an algorithm () is a finite sequence of Rigour#Mathematics, mathematically rigorous instructions, typically used to solve a class of specific Computational problem, problems or to perform a computation. Algorithms are used as specifications for performing calculations and data processing. More advanced algorithms can use Conditional (computer programming), conditionals to divert the code execution through various routes (referred to as automated decision-making) and deduce valid inferences (referred to as automated reasoning). In contrast, a Heuristic (computer science), heuristic is an approach to solving problems without well-defined correct or optimal results.David A. Grossman, Ophir Frieder, ''Information Retrieval: Algorithms and Heuristics'', 2nd edition, 2004, For example, although social media recommender systems are commonly called "algorithms", they actually rely on heuristics as there is no truly "correct" recommendation. As an e ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Motion Planning
Motion planning, also path planning (also known as the navigation problem or the piano mover's problem) is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints (e.g., industrial manipulators), more complex tasks (e.g. manipulation of objects), different constraints (e.g., a car that can only drive forward), and uncertainty (e.g. imperfect models of the environment or robot). Motion planning has several robotics applications, such ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euclidean Distance
In mathematics, the Euclidean distance between two points in Euclidean space is the length of the line segment between them. It can be calculated from the Cartesian coordinates of the points using the Pythagorean theorem, and therefore is occasionally called the Pythagorean distance. These names come from the ancient Greek mathematicians Euclid and Pythagoras. In the Greek deductive geometry exemplified by Euclid's ''Elements'', distances were not represented as numbers but line segments of the same length, which were considered "equal". The notion of distance is inherent in the compass tool used to draw a circle, whose points all have the same distance from a common center point. The connection from the Pythagorean theorem to distance calculation was not made until the 18th century. The distance between two objects that are not points is usually defined to be the smallest distance among pairs of points from the two objects. Formulas are known for computing distances b ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pathfinding
Pathfinding or pathing is the search, by a computer application, for the shortest route between two points. It is a more practical variant on Maze-solving algorithm, solving mazes. This field of research is based heavily on Dijkstra's algorithm for finding the shortest path on a Glossary of graph theory#Weighted graphs and networks, weighted graph. Pathfinding is closely related to the shortest path problem, within graph theory, which examines how to identify the path that best meets some criteria (shortest, cheapest, fastest, etc) between two points in a large network. Algorithms At its core, a pathfinding method searches a graph (data structure), graph by starting at one Vertex (graph theory), vertex and exploring adjacent node (computer science), nodes until the destination node is reached, generally with the intent of finding the cheapest route. Although graph searching methods such as a breadth-first search would find a route if given enough time, other methods, which " ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Motion Planning
Motion planning, also path planning (also known as the navigation problem or the piano mover's problem) is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints (e.g., industrial manipulators), more complex tasks (e.g. manipulation of objects), different constraints (e.g., a car that can only drive forward), and uncertainty (e.g. imperfect models of the environment or robot). Motion planning has several robotics applications, such ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
