vb.net read usb barcode scanner Try to modify WallFollow as discussed in Sec. 11.2.3. in Software

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3. Try to modify WallFollow as discussed in Sec. 11.2.3.
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You will need to use the CheckBorder subroutine to abandon the routine if Borders is not zero.
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4. After studying the problems and solutions in this chapter, try to design your own algo-
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rithm for handling a mowing or sweeping problem. Perhaps your algorithm could try to mow each new path while slightly overlapping a previous path. Maybe your robot could work in spirals to cover a selected area ef ciently. Or perhaps you have a unique idea of your own.
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CHAPTER
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LOCATING A GOAL
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n the preceding chapters we had no xed destination for the robot to go to. The robot just moved around whether randomly, or following a line drawn on the oor, or around an object, but with no nal destination in mind. This kind of behavior has been useful in applications such as mowing or sweeping areas that the robot can visit. There are many applications where the robot will need to go from one point to another. It would be simple enough to make the robot go to a point, as you have seen in Chap. 4, if there are no obstacles in the way. However, if there are obstructions between the robot and its target destination it will become necessary for the robot to circumnavigate the obstructions while making headway toward the target. In this chapter, we will address two general methods for indicating to the robot where to go: Using a marker beacon that hangs over the target position. The robot can see and home in on this beacon. Giving the robot a GPS (global positioning system) unit and a compass along with destination coordinates so it can calculate a path to the target and follow it.
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Once the robot knows its path it will proceed toward the goal. When it encounters obstacles it will have to momentarily abandon progress toward its destination and deal with the obstruction. We will assume that there is at least one path that can lead from where the robot is to the goal position. We will deal with situations where there might be no path in
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Copyright 2008 by The McGraw-Hill Companies, Inc. Click here for terms of use.
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COMPLEX COMPOUND BEHAVIORS
Chap. 14. 15 will deal with the more complex situation of moving from room to room in a typical home or of ce.
12.1 Using a Beacon
In this section, we are going to mark the desired destination by hanging a beacon above it. Since the beacon is high in the air, the robot is able to see it even if there are objects on the oor between the robot and the goal point. If the beacon is a ashing light, either visible or infrared, a real robot could use circuitry capable of recognizing a particular frequency to detect it. A robot with a camera aimed slightly upward could detect a beacon of a speci ed color and even use triangulation to estimate how far it is from the robot. In our simulation, we will assume the robot has a means of detecting a beacon of a speci c color using a directional sensor aimed along the robot s heading. 12.1.1 THE ALGORITHM In order to develop the algorithm, imagine you are the robot. Assume you are in a cluttered room and have limited senses. To make you feel more like the robot, imagine that the beacon is a bright- ashing light. Your eyes are closed so you can t really see, but you can detect the bright- ashing light when it is in front of you. Your rst action would be to turn around slowly until you face the ashing light. You would then move forward toward the light, feeling ahead of you with your hands to make sure you don t bump into something (remember your eyes are closed). If you bump into an object you try to go around it. Since you can t actually see, this is not a simple task. You could follow around the edge of the object until you think you are around it (you don t have any idea of how big the object is) and then try to face the beacon again. If you repeat these steps over and over, you should eventually arrive at the goal. The subroutine in Fig. 12.1 shows the implementation of the algorithm discussed above. The routine assumes there are subroutines that can accomplish the required tasks. Each subroutine executes until its task is complete (or the robot has reached the beacon) and then terminates. The loop ensures that the tasks are executed in turn, one after the other repeatedly, until the beacon is found. We will discuss each routine in the following sections.
FindBeacon: repeat gosub FaceBeacon gosub ForwardTillBlocked TurnDir = 1 gosub GoAround until BeaconFound Return
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