Page 361 - Introduction to AI Robotics

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R1 R2 R3 9 Topological Path Planning

H1 H2 H3 H4

F1 H5 H6 H7
R6 R4 R5 R7

H8 H9 H0
R8 R9 R0

Navigating Door
Navigating Hall
Move to Last Known
Blocked area

Moving from H8 to H0, going EAST
In navigating hall behavior
turning towards the: EAST
Turned towards hall - Initialization terminated
HALL FOLLOW MOTOR ACTIVE
User stopped or BLOCKED - behavior terminated
In last known location loop
MOVE TO GOAL MOTOR ACTIVE
Moving from H8 to F1, going NORTH
In navigating hall behavior
turning towards the: NORTH
Turned towards hall - Initialization terminated
HALL FOLLOW MOTOR ACTIVE
will follow wall on right (left ground truth) to stay in foyer
Found foyer - Nominal Behavior terminated
Moving from F1 to H5, going EAST
In navigating hall behavior
following wall on left (right ground truth)
trying to exit foyer
looking for hall towards the: EAST
WALL FOLLOW MOTOR ACTIVE
Found hall - Initialization terminated
HALL FOLLOW MOTOR ACTIVE
Found door (vision) - Nominal Behavior terminated
Figure 9.13 Scenario for moving from R1 to R0 with blocked path.