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The routine in Fig 58 shows how this can be accomplished The algorithm in Fig 58 assigns a value of 90 left or right instead of 45 to the variable Ta We can allow more turn because we are going to stop when the robot sees an opening anyway The for-loop allows the robot to try and turn the designated number of degrees The for-loop will count up if Ta is positive or down if it is negative The loop keeps track of the last distance read by the range-sensor in the variable OldDist When the new distance read is smaller than the old distance the Break statement is used to exit the for-loop Notice the robot is made to turn the value returned by the function Sign(Ta).

(B.13)

Fig. 30-7

This is Eq. (2.1) of the text. The equation for an ellipse in rectangular coordinates with origin at the center of the ellipse can be found as follows: Referring to Fig. B.2c, in which O is at the zero origin of the coordinate system,

This value will be 1 if Ta is less than zero, 1 if it is greater than zero and 0 if it is equal to zero 553 FURTHER IMPROVEMENTS The improvements made in this chapter are only suggestions The robot s behavior should be based on the environment in which it is expected to operate The programs above can fail, for example, if you draw objects that have sharp points because they can be missed by blind spots in the infrared sensors It is also possible for the robot to become stuck between two objects that are spaced close enough together to trigger the sensors on both sides of the robot at the same time..

Hence,

Part of the enjoyment in robotics is nding problems that a robot cannot handle given simple algorithms and trying to design more sophisticated solutions to impart the robot with the intelligence to tackle baf ing situations. The exercises below offer ideas for improving the programs in this chapter.

in Problem 30.12(a, ii).]

(B.14)

This shows the symmetry of the ellipse, since for a fixed value of y the x2 term is the same for positive and negative values of x. Also, because of the symmetry, there exists a second directrix and focal point to the right of the ellipse. The second focal point is shown as S in Fig. B.2c. This is positioned at x = c = ae (from Eq. B.10). In the work to follow, y can be expressed in terms of x as

5.6 Summary

(B.15)

Divide the interval [0, 1] into n equal parts, as indicated in Fig. 30-8, making each [(i 1)/n, i/n], let xi be the right endpoint i/n. Then (30.1) becomes

In this chapter you have: Written programs to roam around while avoiding objects in the environment. Learned about subroutines and the Gosub statement. Learned about the Print, GotoXY, LineTo, ClearScr, ReadMouse, LineWidth, and SetColor commands. Learned how to develop progressively more complex algorithms that allow the robot to deal with complex situations more intelligently. Learned about bitwise operators and how to combine them with logical operators to interrogate the sensors more ef ciently. Seen how adding some randomness with the Random() function can improve the robot s responses in certain situations. Learned that the robot in RobotBASIC has limitations, just like a real robot, and that overcoming these limitations can be challenging, yet rewarding and fun.

To find the area of an ellipse, consider first the area of any segment (Fig. B.3). The area of the strip of width dx is dA = y dx, and hence the area ranging from x = 0 to x is

(B.16)

Fig. 30-8

1. Modify the program in Fig. 5.4 so that it also uses the bumper sensors. The new pro-

(B.17)

even if other sensors are also triggered. Modify the program so that it will turn 180 ( 30 ) if only the front sensor is triggered. Consider the differences in the behavior you see between the two programs. 3. Modify the program in Fig. 5.7 so that it will not get stuck between two objects.

. In particular, when x = a,

We can make the subdivision ner and ner by letting n approach in nity. Then,

(B.18)

HINT:

(B.19)

n 6