B0722QNJC2 EBOK by Unknown

Author:Unknown
Language: eng
Format: azw3
Publisher: Packt Publishing
Published: 0101-01-01T00:00:00+00:00

Avoiding obstacles

Planning paths without obstacles is, as has been shown, quite easy. However, it becomes a bit more challenging when your robot needs to walk around obstacles. Let's look at a case where there is an obstacle in the path you calculated previously. It might look like this:

You can still use the same path planning algorithm to find the starting angle; however, you'll now need to use your sonar sensor to detect the obstacle. To keep this all very simple, you'll do this in steps. You'll turn and move toward the obstacle for a one-time distance. Then, you'll check whether there is a barrier. When your sonar sensor detects the obstacle, you'll need to recalculate a path to avoid the barrier. To keep this all very simple, we'll assume that the barrier is quite small and that you'll always turn to the left. You'll turn to the left 90 degrees and then move down the barrier at a one-time distance. If the path is no longer blocked, based on the side sonar reading, you'll move on more time distance and then turn back to the path toward the desired path to the goal.

In this case, using these rules, the robot will travel the following path:

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