A 2-dimensional robot navigation library. The library takes a binary occupancy map and the robot's current position as input, and outputs movement vectors. The goal is to explore a maze of indoor hallways filled with obstacles. The library iteratively updates its internal representation of the world as the robot discovers new areas.
At a regular interval, accept the current representation of the world and the robot's current position.
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Generate a medial axis of the area.
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Find the endpoints of the medial axis, along with the paths to those endpoints. Assume a path that disappears into an unknown region has an endpoint right at the transition
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Iterate the below steps until all endpoints are explored.
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Generate all paths to visible unvisited endpoints.
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Choose the nearest unvisited endpoint (via shortest path) and follow the path leading to it.
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Once the endpoint is reached, mark it as visited.
