Build a robot
HISTORY OF THE METHODS/FLOW CHART
ABOUT THE AUTHOR/CV
1996, 1999, 2006
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
- Click on Draw, and hold the mouse down to drag
and create an obstacle. You may do this multiple times to create more than
- Click on Robot, and then click and draw in the domain
to design a robot. You may assemble the robot out of several rectangles.
- Click on Goal, and position the final end point for the robot.
- You can reposition obstacles and the robot using Move and Rotate.
- 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.
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.