Robot Programming: A Practical Guide to Behavior-Based Robotics (Tab Robotics) by Daniel Roth & Joe Jones

Author:Daniel Roth & Joe Jones [Roth, Daniel]
Language: eng
Format: epub
Publisher: McGraw-Hill Education
Published: 2004-01-02T05:00:00+00:00

Figure 5.17 Here the robot, R, improves coverage of a cluttered area by sometimes bouncing away from walls (dashed lines) and sometimes following walls for a short distance (solid lines). This strategy has the effect of seeming to make the openings between chambers wider (if the robot begins following near an opening, it will pass to the next chamber), thereby making the robot more likely to visit chambers distant from where it starts.

Generalized Differential Response

We have looked at several behavior types that had differential sensor inputs and commanded differential actuator outputs. That is, we have looked at systems that possessed left-and right-pointing sensors of different sorts. Ultimately, the processed output of these sensors has been used to control the robot’s left and right drive motors. See Figure 5.18. The values produced by the sensors have also been used as behavior triggers.

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