Now that you can see barriers, you'll want to do dynamic path planning. Dynamic path planning simply means that you don't have knowledge of the entire world with all the possible barriers before you encounter them. This can be a complex topic, but there are some basics that you can start to understand and apply as you ask your robot to move around its environment. Let's start with the idea of planning a path without barriers, and then add barriers.

Basic path planning

In order to talk about dynamic path planning, you'll need a framework to both understand where your robot is and determine the location of the goal. The most commonly used framework is an x-y grid. Here is a diagram of such a grid:

There are three key locations or points in the grid:

• The first point is a fixed reference position. All other positions will be measured with respect to this position.

• The second point is the location of your robot. Your robot will keep track of its location using...