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The difference is the amount of randomness in the turn around. The turn is now 180 10 instead of 30 . The reasoning is that since the sensors are 10 on either side of the front, if we turn the robot around and keep it within this limit (10 ) of where it came from (if it is over the line) it will still sense the line and turn back in. Another way the same effect can be achieved is by widening the line. If you change the number in the statement LineWidth 7 to 20 the boundary would become too wide for the robot s front to be outside the line when it turns the 180 30 . There is still a problem. The robot seems to spend most of its time around the perimeter straddling the line. This is predictable. If the turning around is almost 180 whenever it senses the line with all or just the front sensor, then it will almost always go back to where it came from, and if that happens to be from a long run while straddling the line until it comes to the corner, then it will just turn around and go back to the other corner. This is not very effective behavior. The robot should cover more of the inside area, especially if it is supposed to be doing some useful work in that area. Therefore, even though we have solved the problem of escaping, we have not solved it in a satisfactory manner. The algorithm needs further re nement. There is also another problem. If the robot approaches a corner at exactly 45 to it, then the left and right sensors would trigger together, but not the front one. rSense() would return a value of 5. Have we handled the value 5 in our algorithm There is no code in the algorithm that handles this situation. What is the result of this Since the sensors are triggered, no forwarding can occur, and since the situation is not handled, no turning occurs either. This means that the robot will stay where it is without turning or forwarding; it is stalled. How should this situation be handled Can it be included in the third ifstatement The answer to these questions depends on what action we would like the robot to take in the situation.
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9.1.3 A BETTER ALGORITHM The program in Fig. 9.2 solves most of the problems mentioned above, except for the tendency of the robot to protrude outside the line limit. In the situation being simulated this is not a problem. It is tolerable that some of the robot s body exits the area as long as most of it stays con ned. The algorithm in Fig. 9.2 is very acceptable in that the robot does not get stuck in a corner, nor does it escape. The robot also covers the inside area more ef ciently because it tends to spend more time inside the area than around the periphery. The reason this algorithm works better than the previous one is the use of random numbers. The robot does not just forward, it also turns on occasion (10% of the time as set by the variable F_RandomTurn_Percent). This causes the robot to cover more of the inside area. Additionally when it is turning to avoid the line it turns more of an angle with an additional random value. This makes the robot turn away from the line at a greater angle, minimizing the possibility of approaching the line at too shallow an angle, which causes the problem of some of the body going outside the line due to hardware limitations. The set of constants de ned at the top of the program are very important. The value for F_RandomTurn_Percent de nes what percent of time the robot will turn in addition to forwarding. The amount of turn is de ned in F_RandomTurn. The constant LineAvoidA de nes the amount the robot turns to avoid the line. In addition, a random amount is added
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