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Path Planning
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Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Path Planning
i have a square 5X5 squares, any square is 25cm, total 125X125 cm

i want to program the Lego to find the minimum path and avoid the objects

how to start?

best regards

Mon Apr 15, 2013 9:42 am
Moderator

Joined: Thu Jan 03, 2013 5:10 pm
Posts: 207
Location: The plateau north of the Ohio River Valley, also known as Cave Country.
Re: Path Planning
Are the objects along walls or in the cells?

I have a path algorithm for wall objects, but not for wall objects.

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Wed Apr 17, 2013 6:26 pm
Senior Roboticist

Joined: Wed Sep 28, 2011 10:13 pm
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Re: Path Planning
 Coder A wrote:I have a path algorithm for wall objects, but not for wall objects.
So... you have nothing then?

Are you following the lines between the squares? Are there even lines between the squares? How will you know the end point?

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Wed Apr 17, 2013 6:39 pm
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
the robot move in a big square, the square divided into 5X5 squares , but i don't know how to find the end point, give me the path planning algorithm to try with this

Fri Apr 19, 2013 8:44 am
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Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
the possible scenario it is the cell objects

Fri Apr 19, 2013 8:45 am
Moderator

Joined: Thu Jan 03, 2013 5:10 pm
Posts: 207
Location: The plateau north of the Ohio River Valley, also known as Cave Country.
Re: Path Planning
Sorry, next-gen, I meant I have an alg. for wall objects, but not for cell objects. Oops! I bet I could make one, though. Do you want some help marios robot? I'll work on it but won't be done soon.

So, just to make sure, the obstacles of the maze are blocks taking up the entire cell, making it unusable for transport. Do you have any walls at all? That is, are certain obstacles on the line between two cells, making each cell accessible but direct motion from one cell to the other impossible? Once I have these answers, I can help.

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Fri Apr 19, 2013 5:00 pm
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
the follow image show exactly what i want

 Attachments: PathPlanning.png [ 25.96 KiB | Viewed 8191 times ]
Sat Apr 20, 2013 3:46 am
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
the numbers show the distances,

i want to give a start point and an end point and make a path planning,

can you help me?
best regards

Sat Apr 20, 2013 3:54 am
Moderator

Joined: Tue Sep 14, 2010 9:19 pm
Posts: 496
Re: Path Planning
Here's a tutorial for a simple pathfinding algorithm: http://www.societyofrobots.com/programm ... ront.shtml
For better algorithms, and distance calculation, research Dijkstra's algorithm: http://en.wikipedia.org/wiki/Dijkstra's_algorithm.
It may be useful to read about Breadth First Search (BFS), and Depth First Search (DFS). Once you understand those concepts and Dijkstra's, you can research more algorithms, such as A Star.

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Sat Apr 20, 2013 5:00 am
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
thanks a lot magicode, i will try with this link

Sat Apr 20, 2013 5:44 am
Moderator

Joined: Thu Jan 03, 2013 5:10 pm
Posts: 207
Location: The plateau north of the Ohio River Valley, also known as Cave Country.
Re: Path Planning
Thanks for the helpful diagram! However, one thing is unclear to me: do you want diagonal movement prioritized? Or do you want the cells to update like this:

 Code:  8  7  6  6  6  8  7 EM  5  5 EM EM EM  4  4  1  1 EM  3  4  0  1  2  3  4

In my example, diagonal movement is not prioritized, meaning the robot will only take a diagonal move if it is the only best move. In your example, they are prioritized, meaning diagonal moves are done before grid moves. Which do you prefer?

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Sat Apr 20, 2013 10:46 am
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
no problem bro, anything it is ok

Sat Apr 20, 2013 4:22 pm
Moderator

Joined: Thu Jan 03, 2013 5:10 pm
Posts: 207
Location: The plateau north of the Ohio River Valley, also known as Cave Country.
Re: Path Planning
By the way, is this a school project or not? My help will be limited to your abilities if it is. If not I could just straight out give you some code.

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Sat Apr 20, 2013 4:34 pm
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
it is for university bro, final year project and it is very important for me

Sat Apr 20, 2013 4:58 pm
Novice

Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Re: Path Planning
can you give me the algorithm?

Tue Apr 23, 2013 5:50 am
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