Chapter 6. Autonomous Roaming

In the last chapter, we covered the basic steps for driving a robot using remote control. In this chapter, you have an opportunity to create a service that allows a robot to move around a room unassisted. You will write the service in two versions, and the first version will use a touch sensor to notify the robot of an obstacle collision. In this case, the robot will perform reactively; when a collision occurs, it will back up and move in another direction. The second version of the service will improve upon the first version and utilize a sonar sensor to detect an obstacle before the collision occurs.

In both versions, we will work with one of the Microsoft Robotics Studio (MSRS)–supported robots: the LEGO Mindstorms ...

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