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Armed with more tools for analyzing the infrared data, lets improve the robot s ability to react to objects in its environment All the improvements will be in the subroutine RoamAround All the algorithms given from now on will be a replacement for this subroutine In order to test the algorithm, replace the old subroutine in Fig 54 with the new one given and run the program 551 A FIRST IMPROVEMENT Let s see how the robot can use bitwise operations to make better decisions Look at the subroutine in Fig 57 The rst thing you will notice in Fig 57 is the rTurn statement near the end Instead of turning 150 plus a random amount as we did earlier, the program now turns an amount speci ed by the variable Ta plus a random amount.

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(B.9)

The key to the robot s new intelligence is choosing a proper value for Ta Inside the main while-loop, after an object is encountered, three if-statements decide on an appropriate value for Ta If there is an object on the right (if either of the right-side sensors are triggered) a left turn of 45 is speci ed Similarly if either of the left-side sensors are triggered a right turn of 45 is used If the front sensor alone, or in combination with other sensors is triggered, Ta is given a value of 160 to make the robot turn almost completely around (180 20 ) A random value is still added when the robot turns, but it is much lower than before because the robot is always turning in a reasonable direction anyway.

CHAP. 30]

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To generate Code 39 linear barcode images in Visual C# class library, you only need to add this barcode control to your project reference at first, and then copy the following C# sample code to your barcoding project for a test! All Code 39 barcode settings below are adjustable. BarCode code39 = new BarCode ();

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which is Eq. (2.5) of the text. Referring again to Fig. B.2a, and denoting the length SO = c, it is seen that AS + c = a. But, as shown above, AS = p/(1 + e) and p = a(1 e2). Substituting these for AS and simplifying gives

(B.10)

Notice the use of the function Sign(Ta) to ensure that the random number is in the same direction as the turn 552 A SECOND IMPROVEMENT The algorithm in Fig 57 will turn the robot between 45 and 85 when it encounters an object on its left or right If the turn causes the robot to still be facing an obstacle it will turn again a random amount This will be repeated until the robot eventually nds a clear.

Point O bisects the major axis, and length BO is called the semiminor axis, denoted by b (BB is the minor axis) (Fig. B.2b). The semiminor axis can be found in terms of a and e as follows: Referring to Fig. B.2b, 2a = SA + SA = e(AZ + A Z) = e(2OZ), and therefore,

Since every approximating sum is equal to b a,

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24 Sep 2015 ... The article will illustrate how to create a Code39 barcode in VB.NET and C# .

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RoamAround: while true while rFeel( )=0 // forward until an object is found rForward 1 wend // try to intelligently turn away from the object if rFeel()&3 then Ta = -90 //object on right,turn left if rFeel()&24 then Ta = 90 //object on left,turn right if rFeel()&4 then Ta = 180 //object ahead turnaround OldDist=0 for i=0 to Ta rTurn sign(Ta) NewDist = rRange() if NewDist < OldDist then break OldDist = NewDist next wend Return

(B.11)

But OZ = BC = SB/e, and therefore, SB = a. SB is seen to be the radius at B. From the right-angled triangle so formed,

path However, the robot would be a lot more intelligent if, while turning, it had a way of stopping as soon as it senses a possible clear path This way instead of turning a xed amount, which may cause it to miss an opening while it is turning, we can make the robot stop turning when it sees an opening One way to do this is to have the robot use its range-sensor to measure the distance to objects as it turns Generally, the distance should get larger as the robot turns away from the object it has just encountered If we stop the robot turning as soon as the distance starts to decrease, indicating a possible new obstacle, the robot will be able to turn until it avoids the obstacle, but not until it encounters another This allows the robot to make more intelligent turning decisions.

b As an alternative, intuitive proof, note that a 1 dx is equal to the area of a rectangle with base of length b a and height 1, since the graph of the constant function 1 is the line y = 1. This area is (b a)(l) = b a (see Fig. 30-7).

(B.12)

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