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//-----Constants F_RandomTurn = 3 F_RandomTurn_Percent = 5 LA_RandomTurn = 30 LineAvoidA = 20 TurnAround = 60 BoundaryColor = Gray //====================================================== MainProgram: goSub DrawBoundary goSub SetEnvironment rlocate 330,200 rInvisible BoundaryColor //---no cheating goSub RoamAround End //====================================================== RoamAround: while true goSub TestViolation S = Violation if not S if not(rBumper() & 4) //---only forward if no obstacles rForward 1 if random(10000) < 10000%F_RandomTurn_Percent //--add a bit of turning for better coverage rTurn random(F_RandomTurn) endif else gosub Reverse //--avoid obstacle endif continue //--go back to top of loop endif gosub Reverse wend Return //====================================================== //-- Makes a random reverse and turn //====================================================== Reverse: for i = 1 to (random(10)+10) //--reverse so long no object on the //--back and only max 20 pixels if rBumper() & 1 then break rForward -1 next //--turn min 45 degrees max 90 //-- in a random direction if random(1000) >= 500 rTurn 90-random(45) else rTurn -90+random(45) endif Return //====================================================== //--Sets the environment //======================================================
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FIGURE 9.4 GPS con nement part I.
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SetEnvironment: circle 200,200,250,250,black,black circle 400,400,450,450,blue,blue rectangle 250,400,300,480,magenta,magenta rectangle 450,300,480,410,cyan,cyan return //====================================================== //-- define & draw the boundary //====================================================== DrawBoundary: LineWidth 1 setcolor BoundaryColor Data Boundary; -89, 77, 255, 34, 685, 64 Data Boundary; 766, 210, 665, 333, 721, 451 Data Boundary; 740, 565, 341, 566, 28, 495 Data Boundary; 125, 313, 39, 242, 105, 194 Data Boundary; 46, 111, 89, 77 MPolygon Boundary setcolor black Boundary [0] = -Boundary[0] Return //======================================================
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FIGURE 9.4 (Continued )
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9.3.4 DrawBoundary SUBROUTINE This subroutine (Fig. 9.4) carries out two actions. It draws the boundary lines so that they can be seen for the purpose of observing the robot as it avoids them. The boundary lines are there only to help us see what is happening. The robot cannot see them, since they are designated as an invisible color (Line 13). This routine also creates the boundary array called Boundary using the Data command (Sec. C.7). The array will contain a set of number pairs. Each pair is a coordinate (x, y) of a boundary corner. These points, when connected with lines, de ne the boundary to be avoided. The points are considered to be a sequence, where there is a line between the rst and second point, and between the second and third and so on. The shape can be any shape you desire. The rst point in the array must have a negative x value because the mPolygon command is used to draw the connecting lines. See Sec. C.7 for details on this command. This negative value must be changed back to positive so it can be used correctly in the calculations performed later in the program. This is the purpose of Line 79. To have a closed boundary, the last point in the array has to be the same coordinates as the rst point. This ensures that a closed boundary is created. The algorithm could have eliminated the need for respecifying the rst point and assume a closed polygon, but this way is more versatile since you may need to specify an open boundary. This is an example of a design consideration. Either the code assumes things and thus it will be less versatile but the user has less work, or the user has more work and the code assumes less things but is more general and can be applied to more situations. Here we opt for the latter policy. 9.3.5 TestViolation SUBROUTINE This subroutine (Fig. 9.6) is the secret of the algorithm. This subroutine checks to see if the robot is about to cross a boundary line and sets the variable Violation to true if that is the case or false if it is not.
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