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01 FollowWall: 02 RangeLimit = 30 03 NoWallLimit = 35 04 RangerAngle = TurnDir*90 05 while True 06 while rBumper()&4 07 rTurn -TurnDir 08 wend 09 rTurn -2*TurnDir 10 rForward 1 12 while rRange(RangerAngle) > 13 rTurn TurnDir 14 wend 15 while true 16 if rRange(RangerAngle) >= 17 for WF_I = 1 to 45 18 if rBumper()&4 then 19 rForward 1 20 next 21 rTurn TurnDir*90 22 for WF_I = 1 to 20 23 if rBumper()&4 then 24 rForward 1 25 next 26 endif 27 while rRange() <=5 28 rTurn TurnDir 29 wend 30 while rRange(RangerAngle) 31 rTurn -TurnDir 32 wend 33 while rRange(RangerAngle) 34 rTurn TurnDir 35 wend 36 if not (rBumper()&4) 37 rForward 1 38 else 39 Break 40 endif 41 wend 42 wend 43 Return
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RangeLimit
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FIGURE 8.8 This program follows a wall using only the rRange() sensor.
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limit set by NoWallLimit (Line 16). If it is on a corner the robot will forward until it is clear of the corner (Lines 17 20) then turn 90 toward the wall (Line 21) then forward half a robot diameter (Lines 22 25). This ensures that the ranger is sensing the wall again. All the forwarding will only be done so long as there is no obstacle in the way. This allows for awkwardly turning walls (we shall see this later). Lines 27 to 29 check for a wall ahead of the robot. Lines 30 to 32 turn the robot away from the wall if it is getting too close. Lines 33 to 35 turn the robot towards the wall if it is getting too far. Lines 36 to 40 forward the robot if there is no obstruction. If there is an obstruction we exit out of the inner while-loop so as to renegotiate the wall as if the robot was approaching it anew.
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This algorithm will work with ease around the example wall considered so far. However, we shall test this algorithm by giving it a horrendously dif cult environment. If you look at Fig. 8.9, you will see various types of corners that we would like to consider for rigorous testing of the algorithm. Also there will be various combinations of tight valleys and protrusions to task the sensing and logic of the robot. The replacement DrawWall subroutine given in Fig. 8.10 draws a very complex environment that should be used to test any wall following algorithm to see if it can cope with all the baf ing situations that the robot may encounter. Use this new wall with all the algorithms we have developed and see which ones perform best. Do not forget to try both right and left following. Some algorithms may be successful when following left but not when following right or vice versa. Figure 8.11 shows the result of running the algorithm in Fig. 8.8 with the new wall. Notice that the robot stays close to the walls and visits all tight spots that can accommodate the size of the robot. Also note how well it stays close to sharp corners. Try the algorithm in Fig. 8.8 with simple objects like circles, rectangles, and triangles. Vary the parameters and notice how easy it can be for the robot to follow these simple contours very closely when there are no hard corners to negotiate.
FIGURE 8.9 direction.
Various corner types. The arrows indicate the robot s travel
DrawWall: ClearScr LineWidth 2 Data Wall;-666, 555, 664, 493, Data Wall; 667, 462, 668, 431, Data Wall; 631, 402, 630, 358, Data Wall; 651, 291, 644, 231, Data Wall; 583, 166, 665, 101, Data Wall; 461, 85, 466, 166, Data Wall; 368, 162, 332, 159, Data Wall; 266, 159, 222, 65, Data Wall; 146, 254, 56, 211, Data Wall; 202, 369, 202, 370, Data Wall; 121, 385, 122, 402, Data Wall; 125, 414, 125, 440, Data Wall; 308, 434, 395, 401, Data Wall; 457, 408, 456, 408, Data Wall; 127, 475, 135, 551, Data Wall; 391, 558, 479, 485, Data Wall; 666, 556, -734, 580, Data Wall; 32, 178, 185, 40, Data Wall; 718, 162, 720, 392, MPolygon Wall,Blue Return
705, 701, 686, 693, 666, 404, 316, 167, 60, 203, 169, 255, 401, 456, 270, 524, 87, 517, 736,
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