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Test for Target Reachability. If, after having de ned the last hit point as its intermediate target, the robot returns to it before it de nes the next hit point, then either the robot or the target point is trapped and hence the target is not reachable. (For more detail, see the corresponding text for algorithm Bug2.) The following notation is used in the rest of this section:

Ci and Ti are the robot s position and intermediate target at step i. |AB| is the straight-line segment whose endpoints are A and B; it may also designate the length of this segment. (AB) is the obstacle boundary segment whose endpoints are A and B, or the length of this segment. [AB] is the path segment between points A and B that would be generated by algorithm Bug2, or the length of this path segment. {AB} is the path segment between points A and B that would be generated by algorithm VisBug-21 or VisBug-22, or the length of this path segment.

module regwrite( output reg [3:0] rout, input clk, in, input [3:0] ctrl); always @(posedge clk) if(ctrl[0]) rout[0] else if(ctrl[1]) rout[1] else if(ctrl[2]) rout[2] else if(ctrl[3]) rout[3] endmodule <= <= <= <= in; in; in; in;

It will be evident from the context whether a given notation is referring to a segment or its length. When more than one segment appears between points A and B, the context will resolve the ambiguity. 3.6.2 Algorithm VisBug-21 The algorithm consists of the Main body, which does the motion planning proper, and a procedure called Compute Ti -21 , which produces the next intermediate target Ti and includes the test for target reachability. As we will see, typically the ow of action in the main body is con ned to its step S1. Step S2 is executed only in the special case when the robot is moving along a (locally) convex obstacle boundary and so it cannot use its vision to de ne the next intermediate target Ti . For reasons that will become clear later, the algorithm distinguishes between the case when point Ti lies in the main semiplane and the case when Ti lies in the secondary semiplane. Initially, C = Ti = S.

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Main Body. The procedure is executed at each point of the continuous path. It includes the following steps:

In the above example, each of the control signals are coded with a priority relative to the other control signals. This type of priority encoding is implemented as shown in Figure 1.7.

S1: Move toward point Ti while executing Compute Ti -21 and performing the following test: If C = T the procedure stops. Else if Target is unreachable the procedure stops. Else if C = Ti go to step S2. S2: Move along the obstacle boundary while executing Compute Ti -21 and performing the following test: If C = T the procedure stops.

If the control lines are strobes from an address decoder in another module, then each strobe is mutually exclusive to the others as they all represent a unique address. However, here we have coded this as if it were a priority decision. Due to the nature of the control signals, the above code will operate exactly as if it were coded in a parallel fashion, but it is unlikely the synthesis tool will be smart enough to recognize that, particularly if the address decode takes place behind another layer of registers. To remove the priority and thereby atten the logic, we can code this module as shown below:

Else if Target is unreachable the procedure stops. Else if C = Ti go to step S1. Procedure Compute Ti -21 includes the following steps:

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