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Position tracking while avoiding obstacles authored by ivangrujic's avatar ivangrujic
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Lesson10.markdown
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...@@ -137,12 +137,13 @@ Angle noise factor = 2.5 ...@@ -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. 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. 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 turns](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG) ![Setup for tracking whilst avoiding obstacles](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG)
This exercise used two behaviors, **Wander** and **Avoid edge**. We used the bumper and touch sensor to detect obstacles as this was easier to test.
The Wander behavior was changed to drive in a straight line to obtain a simple fixed route. Odometry was used to track the movements performed in the two behaviors *Wander* and *Avoid edge*.
The Avoid edge behavior is also used to avoid
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 In order to avoid objects whilst following
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