Path Planning

Note that the configuration for the Robot location uses the variables we saved back when detecting the robot position. Also note the use of the variable "waypoints" to automatically provide the waypoints based on a variable as apposed to the manual interface seen directly above.

The graphics created by the path planning module is then overlaid on the current image to view the final planned path.

There remains one problem surrounding the waypoint generation. If we generate the waypoints on each new image frame the robot will obscure the waypoints as it nears them. This will cause a chaotic condition as the system will suddenly lose the waypoint and direct the robot to another. Once the robot moves to uncover the last waypoint it will again be directed to that waypoint causing an oscillation.

To remove this issue we only generate the waypoints once and use the reset waypoints trigger in the Path Planning module to regenerate the waypoint list. This resolution can be seen by the usage of the IF statement in the middle of the pipeline.

Now that we have the planned route we need to determine how and when to move the robot.