Bug Algorithm

Introduction
Many planning algorithms assume global
knowledge
Bug algorithms assume only local
knowledge of the environment and a global
goal
Bug behaviors are simple:
1) Follow a wall (right or left)
2) Move in a straight line toward goal
Bug 1 and Bug 2 assume essentially tactile
sensing
 Contd..
Move towards the goal, unless an obstacle is
encountered.
Circumnavigate the obstacle until motion toward the
goal is again allowable.
Robot is assumed to be a point with perfect positioning.
Robot has a contact sensor which detects the obstacle
boundary if it touches it.
The robot can measure the distance d(x,y) between any
two points.
The workspace is bounded
The robot moves from S to T in the sequence (a) (f). The dashed line
shows direct path, and the solid line shows the path followed by robot.