... | ... | @@ -133,7 +133,8 @@ All the experiments were made under as similar light condition as possible as se |
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![The light conditions.](http://gitlab.au.dk/uploads/u4099/legolabtimadala/bd5ccf9e0b/The_light_conditions..JPG)
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##### Picture 2: The light conditions.
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####Vehicle 2a- Excitatory
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#### Vehicle 2a- Excitatory
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We have made an experiment where the vehicle finds a garage, as seen in Video 3 below.
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[![image alt text](http://img.youtube.com/vi/4LKgasz8anE/0.jpg)](http://www.youtube.com/watch?v=4LKgasz8anE)
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... | ... | @@ -142,7 +143,7 @@ We have made an experiment where the vehicle finds a garage, as seen in Video 3 |
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The video shows that we had to help the robot a bit finding its way into the garage. This is probably because of the lighting conditions in the room in which we performed the experiment, as seen in picture 2. We experimented with a direct light source trying to make the garage on the opposite side seem darker, but the vehicle still had some trouble finding the garage by itself.
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####Vehicle 2b - Excitatory
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#### Vehicle 2b - Excitatory
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In the experiment with vehicle 2b, we used the same code as in the experiment with vehicle 2a, but the results were a lot different.
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[![image alt text](http://img.youtube.com/vi/PZUEhHuiW0I/0.jpg)](http://www.youtube.com/watch?v=PZUEhHuiW0I)
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... | ... | @@ -151,13 +152,13 @@ In the experiment with vehicle 2b, we used the same code as in the experiment w |
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As seen in Video 5 the vehicle (2b) accelerates towards the light instead of turning against it. It is still only stopping when there is no light and are therefore continuing through the light.
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#### Vehicle 2a - Inhibitory
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[![image alt text](http://img.youtube.com/vi/8DpxHx9AwUU/0.jpg)](http://www.youtube.com/watch?v=8DpxHx9AwUU)
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##### Video 4 - Video of vehicle 2a with an inhibitory connection
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In the video we see that we achieved a better result in this experiment than in the previous one. The vehicle drove towards the light source and stopped right in the middle of it. We still had the same light conditions and settings as in picture 2.
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#### Vehicle 2a - Max-Light and Min-Light experiment
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We have in this experiment tried to show how the different rate of N samples influents the vehicles behavior. As seen in video 6 where N=10, which gives the vehicle a more fluent behavior.
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... | ... | @@ -170,6 +171,7 @@ In Video 7 we see a slow vehicle. Here N is set to 100. The reason for the slowl |
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[![image alt text](http://img.youtube.com/vi/uJr25tRH6FQ/0.jpg)](http://www.youtube.com/watch?v=uJr25tRH6FQ)
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##### Video 7 - Video of vehicle 2a with a rate of 100
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#### Video [9] Explanation/Reflection (two ultrasonic sensor)
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In the video, Braitenberg’s vehicle 2 is used with two ultrasonic sensors, you see that the robot bumps into the second chair on its journey. This could relate to the angle that the sensors have towards the chair, here the ultrasound is not reflected back to the sensor and therefore the robot does not make the turn. We are not sure why the problem with the wall occurs, but perhaps it could be due to the reflection from the wall that reaches both sensors and some kind of interference happens. The sensors might be in continuous mode which results in the sensors not being able to distinguish the different beeps from each other. Here It would be more beneficial to use the ping mode, to avoid simultaneously echos from the sensor.
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However, it could also be due to the angle towards the wall that makes it hard for the robot to find the right way. The solution to the problems could be to rebuild the robot, by placing the sensors closer to each other. You could also place the sensors further away from the floor, to avoid any interference from reflections. Lastly if the sensors was working in ping mode, as mentioned, it would prevent two pings from being activated at the same time and thereby avoid disturbance.
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