Question

showing the path of the left-turning algorithm and the path of the right-turning algorithm. A switching Bug 0 algorithm (25 points). E1.2 (i) (10 points) Draw a flowchart for the following pseudo-code implementation of the switching Bug 0 algorithm: 1: choose an initial direction (either left or right) 2: while not at goal : move towards the goal if hit an obstacle : while not able to move towards goal : take a step along the obstacle boundary moving in the chosen direction 3: 4: 5: 6: if hit the hitting point again : switch direction 7: 8: switch the choice of direction 9: (ii) (5 points) Draw an environment for which the switching Bug 0 algorithm never reaches the goal location, even though a path from start to goal does exist. Include both start and goal locations along with arrows indicating the path of the robot. Label several notable points along the path with the letters (A, B,C,…). (iii) (5 points) Sketch a graph of the distance between the robot and the goal location along the path you drew for part (ii). Use the labels from part (ii) to clarify the distance to the goal at the several notable points along the path.

Answer 1

Goal Start

Green dots known direction to goal,robot can measure.
distance d(x,y) between pts x and y otherwise local sensing walls/obstacles & encoders reasonable world

1) finitely many obstacles in any finite area
2) a line will intersect an obstacle finitely many times
3) Workspace is bounded.

W
⊂
Br(x), r <
∞
Br(x) = { y∈ℜ(2) | d(x,y) < r }.

==>Buginner stratergy Bug0 Algorithm implements that's known direction to goal otherwise local sensing walls/obstacles & encoders
Some notation:
qstart and qgoal
“hit point” qHi
“leave point qLi
A path is a sequence of hit/leave pairs bounded by qstart and qgoal.

1) head toward goal 2) follow obstacles until you can head toward the goal again 3) continue

assume a left- turning robot The turning direction might be decided beforehand..