Path Planner

Path module

The path planner module is able to navigate the robot based on sensor data; specifically the laser sensor. This algorithm is able to guide the robot through the outer ring of the yellow arena.

The algorithm is based on steering towards open space. Open space is detected by looking only at laser data below a specific distance. If laser points 5 through 10 are too far away, that space is designated as ‘open’. The robot can then steer toward the rightmost open space or the leftmost open space to stay close to a wall.

Commands

The path module accepts the following commands:

• LASER Upon receiving laser data, it will update the laser data which is used to navigate in the area.

class path.Path

Path class.

sendSettings()

Send current data to wheels.

path.isHitPoint(x, y, d, tresh, minAng, maxAng)

Determine if point is possible collision point