Player/Stage Path Planning

Question

Hey guys,

So I have map and config files that represent the world in which my robot is going to be trying to get through. My robot has to get from the top left corner to the bottom right corner of the map without hitting any of the obstacles. I am allowed to work with the map data before sending the robot on it's journey to try and implement path planning.

I have done some research and understand the whole 'Minkowski Sum' concept, as well as the 'Cell Decomposition' techniques, however I am not exactly sure how to work with the map and config data provided by player stage and apply these concepts and use them to get through the maps.

As far as what the robot is, there are 3 different robots. A point robot, and then two more robots (one with 2 degrees of freedom and one with 3), that are rectangular in shape.

Can anyone point me to some example code or something that explains this from a player/stage standpoint? So far I can only find real general things which help me grasp the concepts but not how I would implement them in player/stage.

Thanks guys,

Scott

Answer 1

Scott I'm writing a Motion Planning library that will incorporate pretty much everything you've stated. So far it's using a Coarse (a.k.a Grid) Decomposition. It is written in ActionScript3 and is in very early stages but hopefully it will help. Take a look: http://code.google.com/p/moterpolate/