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Minimalist Mobile Robotics
book

Minimalist Mobile Robotics

by Jonathan H. Connell
December 2012
Intermediate to advanced content levelIntermediate to advanced
192 pages
7h 37m
English
Morgan Kaufmann
Content preview from Minimalist Mobile Robotics
32
2.
Architecture
forces
the
internal state machine
to go to the
first state. Thus,
when the second module times out,
the
first module switches out
of its output producing loop and goes back to its original testing
loop.
(defmodule watchdog
: inputs (trigger)
:
outputs (reset)
:
states
((nil (event-dispatch trigger stretch))
(stretch
(event-dispatch
trigger stretch
(sleep
MONOSTABLE-TIME)
switch))
(switch
(output reset $true$)
nil)))
2.3
The
multiprocessor implementation
On
an
earlier robot [Brooks
and
Connell
86] we
tried using
telemetry and off-board computation,
but
found this to be highly
unreliable.
For
this reason we decided
to go
wit ...
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Publisher Resources

ISBN: 9780080511719