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FIGURE 11.6
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11.2.2.4 Reverse This subroutine is exactly the same as the one in Chap. 9. It is used to avoid the border if the robot approaches the border head on. You will see how it is used in the MoveRobot subroutine. 11.2.2.5 WallFollow This routine is similar to what you have seen in Chap. 8. It will be used to follow around the contour of owerbeds and tree beds. The contours can be followed to the left or to the right depending on the variable TurnDir (negative is to the left and positive is to the right). You will see how this is done in the discussion about the MoveRobot routine. The wall-following behavior can go on forever if we do not have a way of stopping. We do this by using the rSense() function to see if the robot is going over a painted (already mowed) area. If so, the wall-following behavior will be abandoned. Also the routine is terminated if the robot encounters an obstacle while it is following the contour (a dead end). 11.2.2.6 MoveRobot This is the overall coordinating behavior that controls the robot s movement and triggers what other behaviors ought to take place. The idea is to roam around forever. If a border is encountered then avoid it. If an obstacle is encountered then follow its contour. As in Sec. 11.2 we try to minimize going over a previously mowed area. This is done in the same manner as before with the aide of the ForwardRobot and TestSensors subroutines (Line 35). Lines 4 to 13 test to see if there is a border violation. If there is no border violation then we test to see if there is an obstacle (the else block). The call to the CheckBorder subroutine (Line 4) assigns a value to the variable Borders that indicates how the border is being approached. If the border is to the left of the robot then it turns to the right and if it is to the right it turns left. The amount of turn is randomized, but no
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less than 45 and no more than 90 . In any other border combination the robot reverses away from the border and executes a turn of a random amount and direction. This is achieved by using the Reverse subroutine. If the robot does not see a border it will test for an obstacle (Lines 14 25). If an obstacle is to the right it turns left or if it is to the left it turns right, otherwise it turns in a random direction. The amount of turn is randomized, but no more than 4 . If the robot ever encounters an obstacle head on with the bumpers or the three front infrared (0 and 45 ) sensors (Lines 27 33), then the wall-following behavior is triggered. We decide on how to follow the contour of the obstacle (left or right) depending on which infrared sensors are being triggered. The variable TurnDir is set to 1 if a right turn is to be performed or 1 if left, then the WallFollow subroutine is called to do the wallfollowing action. The subroutine WallFollow will end if the robot sees that it is going over a painted area while following around the obstacle. This brings the program ow back to Line 34. The routine then tests to see if there is an obstacle still causing the front bumper to close. If so, the robot turns to avoid the obstacle. The turn direction is the same as the last time it was turning to avoid any obstacle detected by the infrared sensors (Lines 34 36). Figure 11.7 shows the result of the program in Fig. 11.6.
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