Robot-Navigation

This repository includes the final project for the course Robot Navigation 036044 in ME at the Technion.

Part 1

Main filename: Part1.m
Part 1 of the project is to find the C space boundary of multiple obstacles based on a given robot in 2D.
The results are all given in the Part 1 report.

Robot CS and obstacle sample slice

Obstacle grid sample slice

Part 2

Main filename: Part2.m
In the second part of the project we created a grid and planned a robot navigation from start to a target (position and orientation)
while avoiding the obstacles according to the "Bed_Movers_Problem.pdf".
Following is sample slices of the grid with values representing valid positions of the robot CS

Grid view sample slice

For the path finding algorithm we used BFS, DFS and A* and compared their performance. Following are the path plans for A* and BFS:

Breadth-First Search path

A* path