Consider that the reactive behaviours allowing the normal movement of the robot for <= 4 m are available.
Apply the Hybrid model of autonomy in order to create an abstract movement plan.
For the plan you can use any algorithm and implementation
A file showing the world is attached.
In each room there is a reference point (circle). The robot can move to any direction (left, right, up, down)
Initially the robot is in room f and the Goal state is room a.
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Hi Vassilito, I think I have just the right algorithm to use and I look forward to a future cooperation. See the personal message for the specific details. Best regards, Viabox