I have map that represents the world(work-space) in which my robot will be moving through. My robot will get a task and it has to accomplish it by moving from one part of the work-space to the other without hitting any of the obstacles. This robot is mounted over a rail track and can move in both the directions.
G |3 |5
| |
| |
|2_______1_______R______4
The robot is acted upon an external planner, which push a collision free path to the robot and robot just executes it. The path is in the form of nodes. Like depicted above, let R be my robot and G be the goal point. The path could be (1)->(2)->(3). Now my problem is, how the planner can decide on the direction for R, like in the above example, robot R wheel should move anti-clock wise to go towards node (1) if it is facing towards node (4)? How should I go about this? Any help is greatly appreciated. Thanks !!