... our project implementation include: * A static environment, e.g. no moving obstacles and no unexpected obstacles (that weren't mapped) * Paths through the environment can be completely built using straight-line motion and in-place rotation * The environment is suitable for the robot's sensors (e.g. obstacles aren't too small to be detected or are otherwise impossible to detect) * The environment and robot can be approximated completely by convex polygons * The starting configuration of the robot is a parameter to the navigation program * The user is able to approximate the area of interest to a reasonable degree in the map editor, and is able to estimate the initial position and orientation of the robot in the world to a reasonable level of accuracy The Process: 1. Construct or find an area suitable for the robot's sensors and large enough to provide some moving room (a small enclosed area of ...

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