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leJOS Features, Moving around

leJOS Navigation: Path finding

This is the sixth of a series of posts on leJOS Navigation. It describes how to do path finding.

leJOS has a variety of path finders that all implement the PathFinder interface.

The two most useful are ShortestPathFinder and NodePathFinder.

Both of theses implementations require a line map of the environment. How to create this was described in the previous post.

We will look at ShortestPathFinder first.

The constructor for ShortestPathFinder takes a line map a a parameter.

Having constructed your path finder, you call the find the path by calling the findRoute with the initial pose of the robot and the waypoint your want to reach. A Path object is returned which can be used by the followPath method of Navigator.

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