December 2012
Intermediate to advanced
192 pages
7h 37m
English
Content preview from Minimalist Mobile Robotics
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5.
Navigation
door it found on the outward journey, it must also pass through
all doors on the inbound phase.
The complete navigation algorithm is embodied by the
Strategic level, as shown in figure 5-5. The most basic
behavior is ORIENT which causes the robot to attempt to align
itself with the home vector as it passes through a door. The
companion behavior BALK prevents the robot from moving
unless it is roughly in line with the home vector. Both behaviors
are activated by the presence of a nearby door. The robot detects
such places by looking for particular features in its local IR scan.
If there is both a narrow aperture (3-5 readings ...
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