vb.net read usb barcode scanner DEVELOPING A TOOLBOX OF BEHAVIORS in Software

Maker QR Code ISO/IEC18004 in Software DEVELOPING A TOOLBOX OF BEHAVIORS

DEVELOPING A TOOLBOX OF BEHAVIORS
Decode QR In None
Using Barcode Control SDK for Software Control to generate, create, read, scan barcode image in Software applications.
QR Code Generation In None
Using Barcode drawer for Software Control to generate, create Denso QR Bar Code image in Software applications.
Run the program and notice how the robot never protrudes over the table edge. It covers the table quite effectively, roaming around almost everywhere while avoiding obstacles in a well behaved manner. Remember not to type the line numbers.
Recognizing QR Code In None
Using Barcode reader for Software Control to read, scan read, scan image in Software applications.
QR Code Generator In C#.NET
Using Barcode maker for VS .NET Control to generate, create QR-Code image in .NET applications.
9.3 GPS Con nement
Quick Response Code Maker In .NET
Using Barcode drawer for ASP.NET Control to generate, create QR Code ISO/IEC18004 image in ASP.NET applications.
Printing QR Code JIS X 0510 In VS .NET
Using Barcode generation for .NET framework Control to generate, create Quick Response Code image in VS .NET applications.
In this section we will explore a method that uses the GPS feature on the robot to con ne it to a particular area. Some algebra will be necessary to develop this algorithm. The principles are not complex and all the calculations will be explained in detail. The GPS system on the simulated robot is accurate to a pixel. Assuming that the robot is 40 pixels in diameter, simulating a real robot of about 1 ft in diameter, then one pixel would be 0.6 in. This means that the simulated GPS system is far more accurate than is possible with a real world GPS. The resolution of a GPS affects the accuracy with which an algorithm can control a robot. The algorithm developed below is not affected greatly by this fact, however, there are solutions for the problem. The U.S. GPS system relies on satellites in geosynchronous orbits around the earth that send microwave signals to any terrestrial receiver that knows how to read the encoded data. The receivers use the data from three or more satellites to triangulate a position on the surface of earth. This process is accurate to hundreds of feet (more or less depending on the receiver). This means that if you use this system you would be limited by this resolution. One way to increase accuracy is to use an augmentation system that supplements the satellite data with local position references that enable some receivers to be accurate down to feet. Such systems are used by some airports to enable aircrafts to land precisely on the centerline of a runway without the pilot ever seeing the runway. These systems can be expensive and may still not be as precise as might be needed in some situations. Another way to have a very accurate PS (positioning system) is to create one that implements an LPS (local PS). This system uses the same principles as the GPS but uses local radio transmitters and receivers to calculate positions in reference to a local grid. These systems can be accurate down to inches or centimeters and are not overly costly and can be used effectively over a wide area. The following algorithm will concentrate on developing the principles of using a PS and how to utilize the information to control the robot. Later chapters will explore solutions around accuracy and even how to eliminate the need for a PS altogether. 9.3.1 THE SPECIFICATIONS We will develop an algorithm that allows the robot to roam around an area as in Fig. 9.3, but we will use the GPS to obtain the robot s position and use the information in combination with an array of coordinates that delimit the border of the area in which the robot must stay. The algorithm will determine if the robot is about to cross any of the imaginary borders and turn away. To achieve this goal, we have to specify a few things:
QR Code Creation In Visual Basic .NET
Using Barcode creator for Visual Studio .NET Control to generate, create Quick Response Code image in .NET framework applications.
GS1-128 Generation In None
Using Barcode creation for Software Control to generate, create EAN / UCC - 13 image in Software applications.
We will assume the array of coordinates de nes a fully enclosed area if all of the points are connected together with lines. The coordinate points are consecutive points. There is a line from the rst point to the second, then from the second to the third and so on.
Encode UPC Symbol In None
Using Barcode generator for Software Control to generate, create UCC - 12 image in Software applications.
Draw Code39 In None
Using Barcode encoder for Software Control to generate, create Code 3 of 9 image in Software applications.
AVOIDING DROP OFFS AND RESTRICTED AREAS
Encoding Bar Code In None
Using Barcode creation for Software Control to generate, create bar code image in Software applications.
GTIN - 13 Creator In None
Using Barcode drawer for Software Control to generate, create GS1 - 13 image in Software applications.
The GPS reports the robot s center, so we will allow for the robot s radius in calculating the condition of crossing the boundary line (with a buffer zone). The boundary lines are imaginary, but we would like to have some indication of where they are for display purposes. Therefore, we will draw the lines on the screen to show where they are. We will designate these lines as invisible using the rInvisible command. This prevents the robot from seeing the imaginary drawn boundary as an obstacle. The algorithm will not use these lines in any other way to ascertain the boundary position; only the array of coordinates will designate the boundaries. We will have obstacles in the area and therefore we will incorporate obstacle avoidance in the algorithm. To simplify the math, we will not consider in what way the robot is about to cross the boundary. We will design an algorithm to make the robot think that the boundary lines are walls. The robot will avoid these virtual walls as if they were obstacles. The above means that the algorithm for obstacle avoidance and boundary avoidance are the same (subroutine Reverse of Fig. 9.3). However, the way of determining the boundary crossing (as opposed to object detection) is different and will rely on the GPS to determine if the robot is about to violate the boundary limits. The secret for the new algorithm will be the subroutine TestViolation and the array of coordinates (we will call it Boundary).
ANSI/AIM Code 93 Maker In None
Using Barcode generator for Software Control to generate, create USD-3 image in Software applications.
Barcode Generator In VB.NET
Using Barcode maker for .NET framework Control to generate, create barcode image in .NET applications.
Figure 9.4 is the rst part of the program to be discussed below. Figure 9.6 holds the second part, which will be discussed later. To run the program you need to combine Figs. 9.4 and 9.6. 9.3.2 MAIN PROGRAM The main program (Fig. 9.4) calls the subroutine DrawBoundary (Line 10) to allow us to see the boundary, but, as you will see later, this subroutine also sets up the boundary array. We designate the BoundaryColor constant (Line 13) as an invisible color so as to prevent the robot from seeing the border as an obstacle. If you do not do so then the robot will avoid the boundary as an obstacle and we would not be testing our GPS avoidance algorithm (cheating). The SetEnvironment subroutine is exactly the same as the one you have seen in the previous section. 9.3.3 RoamAround SUBROUTINE This subroutine in Fig. 9.4 is very similar to the one you have seen in Fig. 9.3. The differences are in:
Bar Code Encoder In VS .NET
Using Barcode generation for Visual Studio .NET Control to generate, create bar code image in Visual Studio .NET applications.
Encoding Bar Code In .NET
Using Barcode drawer for ASP.NET Control to generate, create barcode image in ASP.NET applications.
Lines 21 to 22, where we call the TestViolation subroutine. We will discuss this routine later but for now just accept that it sets the variable Violation as true if the robot is about to cross the virtual boundary. Line 36 where instead of using if-statements we just call the Reverse routine as if the boundary was an obstacle as we have done in previous examples. This is due to a limitation of the TestViolation subroutine that will be discussed later. The Reverse subroutine is exactly the same as before.
Barcode Creator In None
Using Barcode generator for Font Control to generate, create barcode image in Font applications.
Data Matrix 2d Barcode Scanner In Java
Using Barcode scanner for Java Control to read, scan read, scan image in Java applications.
Making EAN-13 Supplement 5 In None
Using Barcode creation for Microsoft Excel Control to generate, create EAN-13 image in Microsoft Excel applications.
GS1-128 Scanner In C#
Using Barcode recognizer for .NET Control to read, scan read, scan image in VS .NET applications.
Copyright © OnBarcode.com . All rights reserved.