Encoded Communication Based on Sonar and Ultrasonic Sensor in Motion Planning

In this paper, we will be focusing on the application of sensor communication by implementing Bug algorithms into motion planning and search-based planning. We have learned and researched about the bug algorithm family and then applied the algorithm into programming a robot. For this project, we will be programming a RP6 Robot kit with one of the three bug variation: bug 1, bug 2 and tangent bug so that it can move from a known starting point to a known end point while navigating an unknown obstacle course between the two points. This project is an introduction to the field of motion planning in robotics, which provides the basics for building a fully-automated robot with environmental awareness. Not included in this project is discussion of other motion planning algorithm family, this paper focuses solely on the bug algorithm and its programming application.