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Reactive:Exercise2-Wall Following
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Contents |
Setup
This exercise involves using range sensors from the Sensors section. Make sure that they are calibrated correctly. At this point you should have a working IR sensor. Sensors can be used for basic tasks such as obstacle avoidance, or more involved tasks, such as wall following. The purpose of this exercise is to create a robot controller that responds to the IR sensor data in a manner that follows walls.
In order to prevent all collisions and follow walls, sensors should be placed in a ring around the robot, in addition, the task of aligning a robot to a wall becomes easier if there are two sensors on the wall-following side. We will assume for the purposes of this exercise that there are a number of sensors arranged facing the front, left, and right sides of the robot. This will allow the robot to react to observed obstacles on all sides. A recommended setup is shown in the following image:
Strategy
Wall following on the left side consists of a number of features:
- Find a wall if none is observed
- Turn toward a wall
- Turn away from a wall
- Stopping the robot if an obstacle is in front, while turning right
The wall-following exercise in the sensors section needs to be started next to the wall to be followed. In this example, the wall following should be more dynamic and find the wall if one is not nearby. In order to create a more flexible wall following strategy, more complexity can be added to this controller.
Execution
FLBR (pronnounced Flubber)
First, determine what the sensor readings mean. In this exercise, we will need more detail than just the FLBR coordinares. For the purposes of obstacle avoidance, sensor readings can be classified as:
- FRONT
- FRONT-LEFT
- LEFT
- BACK-LEFT
- BACK
- RIGHT
See picture below:
The FRONT-LEFT and BACK-LEFT allow the controller to know the robot's orientation to the wall, if it is parallel, turned toward, or turned away from the wall.
Decision
Then, actions can be taken based on the closest values of each region. For example, stopping the robot before it hits an obstacle can be done using the FRONT region. Turning the robot can be effectively done using the LEFT and RIGHT regions. Orientation to the wall can be determined by comparing the FRONT-LEFT and FRONT-RIGHT regions (see picture below).
need picture of wall-following
Evaluation
The system can be evaluated using various obstacles in a scene. The first test of whether or not the system works should be a simple, 4-walled room. From there obstacles can be added to the room to better test the robot's skills at avoiding obstacles and finding and following walls. If the robot starts running into things, begin by making sure that your sensor placements were able to see the obstacle, if so, then determine if your algorithm is capable of avoiding that situation. What types of walls can be followed? What types cannot?
