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Transition from <strong>Motion</strong>-to-GoalChoose the pt O ithat minimizesd(x,O i) + d(O i,q goal)M is the point on the “sensed”obstacle which has the shorteddistance to the goalProblem: what if this distancestarts to go up?Ans: start to act like a BUG andfollow boundaryFollowed obstacle: the obstaclethat we are currently sensingBlocking obstacle: the obstaclethat intersects the segmentThey start as the sameFor any O i such that d(O i ,q goal ) < d(x,q goal ),choose the pt O i that minimizes d(x,O i ) + d(O i ,q goal )16-735, Howie Choset with slides from G.D. Hager and Z. Dodds
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