Hi,
I'm currently doing a project that is building a robot to go to desired places by using myRio and LabVIEW. There are static obstacles on the way. I have implemented anytime D star to a maze, and shown to my supervisor. However my supervisor brought some issues: because the AD* calculates adjacent cells, when we give the robot commands, the robot will move to each cell and stop and then move to next cell, so the movements to goal area is not smooth and no a straight lines.
I have created a directed graph map for AD*, and AD* calculate the point to point shortest path. However AD* still search adjacent cells. I’m confused on the topic that how to move the robot smoothly to desired places by using AD* that is already implemented as a VI.
I understand how AD* works as I did read the research paper. The question my supervisor asked me is that wether the algorithm I find is good for travel direct path or takes a detour.
I talked with my supervisor 20 minutis ago, and he said that any algorithm that using the cell to calculate the path is not suitable for this project, and the point to point algorithms are the one we are looking for. I’m looking for other algorithm such as tangentBug or pointBug algorithms.
I’m trying to learn the simulation in robotic module now, so I can use it to test the algorithms and show it to my supervisor. Do you think this may help to solve the issue above?
Thank yous
