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René Søndergaard Nilsson
Position tracking while avoiding obstacles
Jun 01, 2015
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@@ -137,12 +137,13 @@ Angle noise factor = 2.5
We have chosen to answer this exercise based on the exercise
*Make the robot stay within the robot arena*
from lesson 11.
The following image shows the setup used, with a sonar sensor, two light sensors, and a bumper and touch sensor mounted on the front of the vehicle.
Validation of LEGO car parameters - Right turn
Setup for tracking whilst avoiding obstacle
This exercise used two behaviors,
The Wander behavior was changed to drive in a straight line to obtain a simple fixed route.
The Avoid edge behavior is also used to avoid
We used the bumper and touch sensor to detect obstacles as this was easier to test.
Odometry was used to track the movements performed in the two behaviors
Wander was modified to drive in a straight line to obtain a simple fixed route.
The Avoid egde behavoir, which backs the car up and turns 90 degrees to the left, was re-used as an avoid obstacle behavior.
In order to avoid objects whilst following