Expand description
Bug algorithm family for path planning.
Simple reactive planners that move greedily toward the goal on an integer grid and follow obstacle boundaries when blocked.
Three variants are provided:
- Bug0 – greedy move toward goal; on hitting an obstacle, follow the boundary until the direct path is clear again.
- Bug1 – circumnavigate the entire obstacle, record the closest point to the goal, backtrack to that point, then resume greedy motion.
- Bug2 – precompute the start-goal line; follow the obstacle boundary until re-intersecting that line closer to the goal.
Reference: https://web.archive.org/web/20201103052224/https://sites.google.com/site/ece452bugalgorithms/
Structs§
- BugConfig
- Configuration for the Bug planner.
- BugPlanner
- Bug family path planner operating on an integer grid.
- BugResult
- Result of a Bug planning run.
Enums§
- BugVariant
- Which Bug algorithm variant to use.