As an example of a behavior-based control program the leJOS NXJ distribution contains a BumperCar program. It consists of two behaviors DriveForward and DetectWall both implementing the interface Behavior and a main program BumperCar that uses an instance of the class Arbitrator to control the activation of the two behaviors.
First, make BumperCar run the base sumo wrestler driving base mounted with a bumper and an ultrasonic sensor.
Plan
To execute and test the provided BumperCar.java program on the sumo wrestler driving base we used an express bot [2], built for sumo wrestling, as seen in Fig. ??
We then equipped the robot with a front bumper with two touch sensors, and a forward facing ultrasonic sensor.
