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The robot will test to see if and how it is surrounded by a previously vacuumed area. The robot will turn in a direction away from the painted area or in a random direction if it is fully surrounded or the area is straight ahead. Turning will only occur a certain percentage of the time. This percentage will increase the more time the robot spends over painted areas, but only to a maximum amount. This value will be reset to 0 on occasion and when the robot is fully surrounded by an unvacuumed area. The turn amount will increase every time the robot is completely surrounded by a vacuumed area, but only to a maximum amount. Also this value will be reset to 1 every time the robot is surrounded by an unvacuumed area. No turning will occur if an unvacuumed area surrounds the robot.
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Place the code in Fig. 11.4a at the top of the base program in Fig. 11.1, just before the label MainProgram. These values will greatly affect the behavior of the algorithm described above and implemented by Fig. 11.4b. Try experimenting with them. Figure 11.4b shows the replacement subroutine ForwardRobot that should replace the one in Fig. 11.2. The subroutine TestSensors is new. Combine Figs. 11.1, 11.2, 11.4a, and 11.4b (replacing the old subroutines) and run the program (see Fig. 11.5). Notice how the robot turns away from a vacuumed area. Compare the effectiveness of this algorithm to the previous one. 11.1.4 FURTHER IMPROVEMENTS A possible improvement to this algorithm is to follow the contour of the objects it encounters instead of just avoiding them. We will explore this possibility in the next section on mowing with the robot. Currently in the MoveRobot subroutine (Fig. 11.2) when the robot encounters an obstacle head on it turns in a random direction. If we change this behavior in such a way as to turn away from a covered area instead of a random direction, the robot would be turning to cover more area in less time. Unfortunately, this may cause the robot to get stuck endlessly repeating the same behavior. Some means of detecting the situation will be needed to trigger a different behavior to free the robot (you will see an example of this in Chap. 12).
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//---Variables TurnDirection = 0 TurnAmount = 1 MaxTurnAmount = 3 ResetPercentTime = 1 MaxTurnPercentTime = 30 TurnPercentTime = 0
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FIGURE 11.4a
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Place this code at the top of the base program of Fig. 11.1.
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ForwardRobot: rForward 1 //now see if we need to turn too gosub TestSensors if Sensors = 0 //fully new area TurnPercentTime = 0 //recent %time TurnDirection = 0 //no turn TurnAmount = 1 //reset amount else //increment %time but to a maximum TurnPercentTime = TurnPercentTime+1 if TurnPercentTime > MaxTurnPercentTime TurnPercentTime = MaxTurnPercentTime endif //turn right unless we need to turn left TurnDirection = 1 if Sensors = 31 //fully old area //increment turn amount but to a maximum TurnAmount = TurnAmount+1 if TurnAmount > MaxTurnAmount TurnAmount = MaxTurnAmount endif //random turn direction if random(10000) < 5000 then TurnDirection = -1 elseif Sensors&3 and not(Sensors&24) //if painted area on right turn left //no need to check for left since turndir is set to //right by default TurnDirection = -1 elseif Sensors = 4 //if painted area is only straight ahead //randomize the direction if random(10000) < 5000 then TurnDirection = -1 endif endif //if not correct percent of time //turn off turning if random(100000) > 100000%TurnPercentTime TurnDirection = 0 endif //reset the %time for turning on occasion if random(100000) < 100000%ResetPercentTime TurnPercentTime = 0 endif //make the turn if required if TurnDirection <> 0 rTurn sign(TurnDirection)*TurnAmount endif Return //=========================================================== //-- Creates 5 ground sensors //-- at +/-90, +/-45 and 0 degrees TestSensors: Sensors = 0 for TS_i = 0 to 4 if rGroundA(90-TS_i*45) = LnClr Sensors = Sensors | (2^TS_i) endif next Return //===========================================================
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