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    Copyright:
    1996, 1999, 2006
    J.A. Sethian

    • Robotic Navigation with Constraints

    This is an applet for robotic navigation with constraints. You can lay down a collection of obstacles, design the shape of your own robot, and the fix a starting point and finishing point. Once this is done, the Fast Marching Method will automatically compute and display the the solution. To understand how optimal path planning can be cast as a problem in front propagation, go to the web page on robotic navigation

    Instructions:
    1. Click on Draw, and hold the mouse down to drag and create an obstacle. You may do this multiple times to create more than one obstacle.
    2. Click on Robot, and then click and draw in the domain to design a robot. You may assemble the robot out of several rectangles.
    3. Click on Goal, and position the final end point for the robot.
    4. You can reposition obstacles and the robot using Move and Rotate.
    5. Click on Go to find the optimal path.


    Things to Notice and Try:
    • Try putting in so many obstacles that the robot can't reach its goal.
    • This version is a little more accurate than the other, because a finer mesh is used. But it takes a little longer to run.
    • Turn the shadow feature on to record its path.

    References

    Kimmel, R., and Sethian, J.A., Fast Marching Methods for Robotic Navigation with Constraints Center for Pure and Applied Mathematics Report, Univ. of California, Berkeley, May 1996, submitted for publication, Int. Journal Robotics Research, 1998.