ROBOT MOTION PLANNING
"Efficiency Analysis and Software Implementation "

David Urrabazo Jr, Arie Litosky, Yuh-Jen (Mindy) Feng
Advising Professor: Sergey Bereg
Erik Johnson School of Engineering and Computer Science
University of Texas at Dallas, USA

Supported by a grant from the
Computer Research Association
Committee on the Status of Women in Computing Research
and the
National Science Foundation

RANDOM MOTION ALGORITHM:

RandomMotion
In a nutshell the random motion algorithm is collision based algorithm that waits for collision to occur then tells the robot to move away from collision a certain distance X (controlled by designer) in any direction away from collision. Once the robot has moved away X distance the robot will then continue on its path.

• The basic concept or logic behind Randommotion algorithm came from perceiving the robots as human beings. Assume two identical people collide in a hallway. How do we expect each person react? Well out of courtesy both people will move away from the scene of collision. Upon moving away a fair distance from collision both robots will reattempt to reach intended destination.
  

To see more details with visuals follow the link below to notes:
*Week4 Meeting Notes*

DOMINANCE ALGORITHM:

Dominance Algorithm
In a nutshell the Dominance algorithm is collision based algorithm that waits for collision to occur then tells the lower ranked robot to move away from collision a certain distance X (controlled by designer) in any direction away from collision.allowing the higher ranked robot to continue on its path. Once the lower ranked robot has moved away X distance the robot will then continue on its path.
• The basic concept or logic behind Dominance algorithm also came from analyzing human interatction. Assuming two people of exact identical mindset but of minor differences in characteristics such as a general employee vs. CEO. How will each person react? Well of course if the general employee bumped into the CEO the general employee would apologize and move away from collision and allow the CEO to continue on its path. This brings into the idea of dominance, weights, and ranking. All three of which basically have the same meaning. Thus how can we demonstrate this algorithm in JAVA that answer is Weights.JAVA shown to the right.

  To see more details with visuals follow the link below to notes:
  *Week6 Meeting Notes*