# Robot movement between point A and B with fixed angle and step length

I am working on a robotic path finding problem for my personal project and I am stuck on how to get from point A to point B.

Please note that this is a visual robot, as I am looking to implement it software-wise first based on all the requirements I found (sensors, mechanics with my team etc). Once the software is done, we will be transferring the code into the actual robot which we will be building in the next months.

The requirements of the robot are:

Can move at any direction with 10 degrees interval (it can turn from 0 to 10˚, 0 to -10˚, 0 to 50˚, but not 0 to 5 or 0 to 7. Has a fixed movement of 0.5 meters. As the robot it tall, it can only move distances of a multiple of 0.5 meters at any direction (it can turn from 0 to 70˚ and move to 0.5 meters at that direction. Each point can be reached with 0.1m offset. For instance, the robot doesn't have to reach to point B exactly, but can reach within 0.1m away from the point at any direction. Below I have an illustration of the robot starting at point A and needs to reach to point B. I forgot to add a compass where 0˚ is east, 90 is North, 180 is west and 270 is south. So the point B is southeast of the point A with an angle of 312˚.

The second figure, illustrates roughly the path the robot should take to reach to point B from point A.

I am writing the program on Java and help would be very appreciated!

• Welcome to Robotics, GeorGios. Is your question how do you solve the problem? What steps have you tried so far? Given your unusual constraints I think there's not going to be a clean analytical solution; you're probably going to have to go with either a lookup table or iterative solution. What form do you think the answer is going to take and what have your results been so far? – Chuck Dec 9 '20 at 17:59