Robot Motion Algorithms

• Introduction
• Tangent Bug Algorithms
• Simple Potential Field
• Potential Navigation Function:
• Trapezoidal Cell Decomposition
• Probabilistic Roadmap (PRM)

Introduction

This page aims to show basic robot motion and planning algorthms.

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Tangent Bug Algorithm:

• Tangent Bug Mouse (Sensors of tangent bug by mouse
• Tangent Bug Robot (A point robot finds its path range sensor) - does not work properly

Simple Potential Field:

• Simple Potentional Field Mouse (Simple Potential Field experience by Mouse
• Simple Potentional Field Robot (A point robot finds its path by Simple Potential Field)

Potential Navigation Function:

• Navigational Potentional Function Mouse
• Navigational Potentional Function Robot (A point Robot Finds its Path by Potential Function)

Trapezoidal Cell Decomposition and Coverage:

• Trapezoidal Cell Decomposition (Decomposes into cells, construct path and apply A* search for path planning)
• Trapezoidal Cell Coverage (Algorithm covers decomposed cells)

Probabilistic Roadmap (PRM):

• PRMNumber of nodes and connection can be determined

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