... | ... | @@ -137,12 +137,13 @@ Angle noise factor = 2.5 |
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We have chosen to answer this exercise based on the exercise *Make the robot stay within the robot arena* from lesson 11.
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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.
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![Validation of LEGO car parameters - Right turns](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG)
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![Setup for tracking whilst avoiding obstacles](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG)
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This exercise used two behaviors, **Wander** and **Avoid edge**.
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The Wander behavior was changed to drive in a straight line to obtain a simple fixed route.
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The Avoid edge behavior is also used to avoid
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We used the bumper and touch sensor to detect obstacles as this was easier to test.
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Odometry was used to track the movements performed in the two behaviors *Wander* and *Avoid edge*.
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Wander was modified to drive in a straight line to obtain a simple fixed route.
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The Avoid egde behavoir, which backs the car up and turns 90 degrees to the left, was re-used as an avoid obstacle behavior.
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In order to avoid objects whilst following
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