jmcmahon443 / robot-collision

2D Reactive Navigation

2D Reactive Navigation

Worcester Polytechnic Institute
RBE 595: Advanced Robot Navigaton
Professor Carlos Morato
Spring 2016

Joseph McMahon
January 27, 2016

This is a 2D simulation of a robot randomly exploring a map. It has a collision threshold for the edge of the map and the three obstacles. Use the buttons below to toggle the robot's path, pause, reset, or record a video. To view streaming values, open your browser's JavaScript console.

The simluation is hosted on GitHub pages here: https://jmcmahon443.github.io/robot-collision. The code can be viewed on my public GitHub page: https://github.com/jmcmahon443/robot-collision.

The EaselJS framework was used to draw on the canvas, and create timed events. An open source Javascript script framework was used to record the screen https://github.com/spite/ccapture.js/.

The random walk adjusts the robot's angular acceleration and moves the robot forward. You can see this by resetin the simulation and using the path tracking - the robot takes different paths.

This program has the following main sections:

1.) CONSTANTS

2.) GLOBAL VARIABLES

3.) INITIALIZATIONS

4.) FUNCTIONS

5.) UPDATE EVENT

6.) BUTTONS

Future work

• Different types of simple navigation: straight line, random turns (cw, ccw, both)
• Scoreboard for map exploration percentage
• Path planning
• SLAM algorithms