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If you study the code in Fig. 15.12 you will see the required modi cation. The idea is to stay in a loop that turns the robot toward the destination and then forwarding one pixel, repeating the action until it actually gets there. The robot may turn and move more or less than the required amount, but the loop will ensure that eventually it gets there by constantly turning and forwarding toward the goal point. The above actions counteract any slip in the robot s movements, but they still require an accurate GPS and compass. We will address this in the next section. Another shortcoming in the previous algorithm is that if an obstacle is encountered the robot will never get to the point because it abandons the routine. We shall simulate transient obstacles that move into the robots path by using the mouse. If you press the left mouse button with the cursor in front of the robot, the code in the subroutine CheckObstacles will make the robot think that there is an obstacle. This routine also simulates the robot ashing a beacon (you can also make it beep see Exercise 8). The robot will not move until the obstacle moves out of the way and then it will continue on its way. Try this by clicking the mouse and keeping it clicked in front of the robot. The other routine that must be changed is DockWithCharger. The old routine assumed that by turning 180 the robot would have its back facing the charging station. However, the robot may not turn 180 . If there is an error of a few degrees there would be no problem, but this cannot be guaranteed unless we modify the code to ensure that the robot actually turns to face north. This is achieved by making the robot continue to turn in a loop until it actually faces north. The nal reversing may still cause problems but if we design the charging room node to be close to the station then the likely error will be within allowable tolerances. Remember that reversing is done until the rear bumper is closed so the robot will always get there. The routines in Fig. 15.12 are replacements for the ones in Figs. 15.10 and 15.11. CheckObstacles is a new routine.
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15.3.2 NO GPS OR COMPASS (SLIP IS CORRECTED BY HARDWARE) Can we still know the robot s position and heading if we had no compass or GPS If the robot has no slip or any slip is removed by hardware using feedback control and good wheel encoders ensuring that the robot moves as expected, we can effectively create a software GPS and compass system. This is actually the principle behind a navigation system used by aircrafts, ships, and even spaceships. This system is called inertial navigation system (INS). INSs rely on gyroscopes oriented in the three axes of movement. The gyroscopes give a method for the system to measure forces on all three axes. Using calculus and mathematics the translation of the craft can be calculated quite accurately. If you keep track of these translations you are able to calculate the craft s position in three dimensions at all times. The system generates small errors that can accumulate over time but if the reported position is checked against a known reference occasionally, a correction can be applied to maintain the system within acceptable tolerances. We can simulate an INS system using software. If instead of calling rForward or rTurn we call a subroutine that simulates keeping track of all translations, we can simulate an INS which can return the robot s heading and x, y coordinates.
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