Reactive navigation

These planners work with an occupancy grid representation of the world. Start and goal are specified by 2D \((x, y)\) coordinates in the plane.

class roboticstoolbox.mobile.Bug2(**kwargs)[source]

Bases: PlannerBase

Construct a Bug2 reactive navigator

Parameters

occgrid (OccGrid instance or ndarray(N,M)) – occupancy grid
kwargs – common arguments for PlannerBase superclass

Returns

Bug2 reactive navigator

Return type

Bug2 instance

Creates an object which simulates an automaton, capable of omnidirectional motion, finding a path across an occupancy grid using only a bump sensor.

Reference: “Path-Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape”, Lumelsky and Stepanov, Algorithmica (1987)2, pp.403-430

Note

This class is not a planner, even though it subclasses PlannerBase. It can produce very inefficient paths.

Author: Kristian Gibson and Peter Corke, based on MATLAB version by Peter Corke
Seealso: PlannerBase

property m_line

Get m-line

Returns: m-line in homogeneous form
Return type: ndarray(3)

This is the m-line computed for the last run().

run(start=None, goal=None, animate=False, pause=0.001, trail=True, movie=None, **kwargs)[source]

Find a path using Bug2 reactive navigation algorithm

Parameters

start (array_like(2)) – starting position
goal (array_like(2)) – goal position
animate (bool, optional) – show animation of robot moving over the map, defaults to False
movie (str or tuple(str, float), optional) – save animation as a movie, defaults to None. Is either name of movie or a tuple (filename, frame interval)
trail – show the path followed by the robot, defaults to True

Returns

path from start to goal

Return type

ndarray(2,N)

Compute the path from start to goal assuming the robot is capable of 8-way motion from its current cell to the next.

Note

start and goal are given as (x,y) coordinates in the occupancy grid map, not as matrix row and column coordinates.

Seealso: Bug2.plot()

plot_m_line(ls=None)[source]

Plot m-line

Parameters: ls (str, optional) – linestyle, defaults to "k--"

Plots the m-line on the current axes.

property goal

Set/get goal point or configuration (superclass)

Getter: Return goal pointor configuration
Return type: ndarray(2) or ndarray(3)
Setter: Set goal point or configuration
Param: array_like(2) or array_like(3)

The goal is either a point \((x, y)\) or a configuration \((x, y, \theta)\).

Seealso: goal()

isoccupied(p)

Test if point is occupied (superclass)

Parameters: p (array_like(2)) – world coordinate (x, y)
Returns: occupancy status of corresponding grid cell
Return type: bool

The world coordinate is transformed and the status of the occupancy grid cell is returned. If the point lies outside the bounds of the occupancy grid return True (obstacle)

If there is no occupancy grid this function always returns False (free).

Seealso: occgrid() validate_endpoint() BinaryOccGrid.isoccupied()

message(s, color=None)

Print message to message channel

Parameters

s (str) – message to print
color (str, optional) – color to print it, defaults to color specified at constructor time.

property occgrid

Occupancy grid

Returns: occupancy grid used for planning
Return type: OccGrid or subclass or None

Returns the occupancy grid that was optionally inflated at constructor time.

Seealso: validate_endpoint() isoccupied()

plot(path=None, line=None, line_r=None, configspace=False, unwrap=True, direction=None, background=True, path_marker=None, path_marker_reverse=None, start_marker=None, goal_marker=None, start_vehicle=None, goal_vehicle=None, start=None, goal=None, ax=None, block=False, bgargs={}, **unused)

Plot vehicle path (superclass)

Parameters

path ((N, 2) or ndarray(N, 3)) – path, defaults to None
direction (array_like(N), optional) – travel direction associated with each point on path, is either >0 or <0, defaults to None
line (sequence of dict of arguments for plot) – line style for forward motion, default is striped yellow on black
line_r (sequence of dict of arguments for plot) – line style for reverse motion, default is striped red on black
configspace (bool, optional) – plot the path in 3D configuration space, input must be 3xN. Start and goal style will be given by qstart_marker and qgoal_marker, defaults to False
unwrap (bool, optional) – for configuration space plot unwrap \(\theta\) so there are no discontinuities at \(\pm \pi\), defaults to True
background (bool, optional) – plot occupancy grid if present, default True
start_marker (dict, optional) – style for marking start point
goal_marker (dict, optional) – style for marking goal point
start_vehicle (dict) – style for vehicle animation object at start configuration
goal_vehicle (dict) – style for vehicle animation object at goal configuration
start (array_like(2) or array_like(3), optional) – start position \((x, y)\) or configuration \((x, y, \theta)\), defaults to value previously set
goal (array_like(2) or array_like(3), optional) – goal position \((x, y)\) or configuration \((x, y, \theta)\), defaults to value previously set
bgargs (dict, optional) – arguments passed to plot_bg(), defaults to None
ax (matplotlib axes) – axes to plot into
block (bool, optional) – block after displaying the plot

Plots the start and goal location/pose if they are specified by start or goal or were set by the object constructor or plan or query method.

If the start and goal have length 2, planning in \(\mathbb{R}^2\), then markers are drawn using styles specified by start_marker and end_marker which are dicts using Matplotlib keywords, for example:

planner.plot(path, start=dict(marker='s', color='b'))

If the start and goal have length 3, planning in \(\SE{2}\), and configspace is False, then direction-indicating markers are used to display start and goal configuration. These are also given as dicts but have two items: 'shape' which is the shape of the polygonal marker and is either 'triangle' or 'car'. The second item 'args' is passed to base.plot_poly() and Matplotlib and could have values such as filled=True or color.

If configspace is False then a 3D plot is created and the start and goal are indicated by Matplotlib markers specified by the dicts start_marker and end_marker

Default values are provided for all markers:

the start point is a circle

the goal point is a star

the start vehicle style is a VehiclePolygon(shape='car') as an unfilled outline

the goal vehicle style is a VehiclePolygon(shape='car') as a transparent filled shape

If background is True then the background of the plot is either or both of:

the occupancy grid
the distance field of the planner

Additional arguments bgargs can be passed through to plot_bg()

If path is specified it has one column per point and either 2 or 3 rows:

2 rows describes motion in the \(xy\)-plane and a 2D plot is created
3 rows describes motion in the \(xy\theta\)-configuration space. By default only the \(xy\)-plane is plotted unless configspace is True in which case motion in \(xy\theta\)-configuration space is shown as a 3D plot.

If the planner supports bi-directional motion then the direction option gives the direction for each point on the path.

Forward motion segments are drawn using style information from line while reverse motion segments are drawn using style information from line_r. These are each a sequence of dicts of Matplotlib plot options which can draw an arbitrary number of lines on top of each other. The default:

line = (
        {color:'black', linewidth:4},
        {color:'yellow', linewidth:3, dashes:(5,5)}
    )

will draw a blackline of width 4 with a dashed yellow line of width 3 plotted on top, giving a line of alternating black and yellow dashes.

Seealso: plot_bg() base.plot_poly()

plot_bg(distance=None, cmap='gray', ax=None, inflated=True, colorbar=True, **unused)

Plot background (superclass)

Parameters

distance (ndarray(N,M), optional) – override distance field, defaults to None
cmap (str or Colormap, optional) – Specify a colormap for the distance field, defaults to ‘gray’

Displays the background which is either the occupancy grid or a distance field. The distance field encodes the distance of a point from the goal, small distance is dark, a large distance is bright.

If the planner has an occupancy grid then that will be displayed with:

free cells in white
occupied cells in red
inflated occupied cells in pink

If distance is provided, or the planner has a distancemap attribute the the distance field will be used as the background and obstacle cells (actual or inflated) will be shown in red. A colorbar is added.

progress_end()

Finalize a progress bar (superclass)

Remove/cleanip a progress bar, for example:

planner.progress_start(100)
for i in range(100):
    # ...
    planner.progress_next()
planner.progress_end()

Seealso: progress_start() progress_next()

progress_next()

Increment a progress bar (superclass)

Create a progress bar for an operation that has n steps, for example:

planner.progress_start(100)
for i in range(100):
    # ...
    planner.progress_next()
planner.progress_end()

Seealso: progress_start() progress_end()

progress_start(n)

Initialize a progress bar (superclass)

Parameters: n (int) – Number of iterations in the operation

Create a progress bar for an operation that has n steps, for example:

planner.progress_start(100)
for i in range(100):
    # ...
    planner.progress_next()
planner.progress_end()

Seealso: progress_next() progress_end()

property random

Get private random number generator

Returns: NumPy random number generator
Return type: numpy.random.Generator

Has methods including:

The generator is initialized with the seed provided at constructor time.

Seealso: numpy.random.default_rng()

random_init(seed=None)

Initialize private random number generator

Parameters: seed (int) – random number seed, defaults to value given to constructor

The private random number generator is initialized. The seed is seed or the value given to the constructor. If None, the generator will be randomly seeded using a seed from the operating system.

property start

Set/get start point or configuration (superclass)

Getter: Return start point or configuration
Return type: ndarray(2) or ndarray(3)
Setter: Set start point or configuration
Param: array_like(2) or array_like(3)

The start is either a point \((x, y)\) or a configuration \((x, y, \theta)\).

Seealso: goal()

validate_endpoint(p, dtype=None)

Validate start or goal point

Parameters

p (array_like(2)) – the point
dtype (str, optional) – data type for point coordinates, defaults to None

Raises

ValueError – point is inside obstacle

Returns

point as a NumPy array of specified dtype

Return type

ndarray(2)

The coordinate is tested to be a free cell in the occupancy grid.

Seealso: isoccupied() occgrid()

property verbose

Get verbosity

Returns: verbosity
Return type: bool

If verbosity print more diagnostic messages to the planner’s message channel.