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Raspberry Pi Robotics Essentials

You're reading from   Raspberry Pi Robotics Essentials Harness the power of Raspberry Pi with Six Degrees of Freedom (6DoF) to create an amazing walking robot

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Product type Paperback
Published in Jun 2015
Publisher
ISBN-13 9781785284847
Length 158 pages
Edition 1st Edition
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Author (1):
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Richard Grimmett Richard Grimmett
Author Profile Icon Richard Grimmett
Richard Grimmett
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Dynamic path planning for your robot


Now that you can see barriers and also know direction, you'll want to do dynamic path planning. Dynamic path planning simply means that you don't have a knowledge of the entire world with all the possible barriers before you encounter them. Your robot will have to decide how to proceed while it is in the middle and actually moving. This can be a complex topic, but there are some basics that you can start to understand and apply as you ask your robot to move around its environment. Let's first address the problem of knowing where you want to go and needing to execute a path without barriers, and then adding in barriers.

Basic path planning

In order to talk about dynamic path planning, that is, planning a path where you don't know what barriers you might encounter, you'll need a framework to understand where your robot is as well as to determine the location of the goal. One common framework is an x-y grid. The following is a drawing of such a grid:

There...

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