For a good time, try this:
Klip out the following code on the dotted lines and save as a file with a .m extension. E.g. save it as robot_sim.m
Go to the directory where you saved this file and type
After a while and some copyright stuff you get a window with a prompt like this:
to get started, ...blah blah
OK! At that >> prompt you type your filename without the extension, like
Stand back and watch the fun.
Why do I tell you all this? Because if you are testing robot behaviors or strategies, doing it with a simulator is lots easier than in the lab! This simulator is real basic and doesn't capture the IC notions of parallel activation of several reflexes, but you get the idea, and I have other examples of more complex simulations and papers about how they work. Also the matlab code.
Oh yes, another lesson here is that MATLAB is fairly easy to understand, but maybe not totally transparent.
%--------------klip here --------------- % Matlab Simulator for Meccano Robot % Programmed by Olac El Terrible worldsize = 360; maxtime = 10000; world = 250*ones(worldsize,worldsize); world(20:worldsize-20,20:worldsize-20)=world(20:worldsize-20,20:worldsize-20)*0; obstacle_size = 40; tot_obstacles = 7; obstacle = 250*ones(obstacle_size,obstacle_size); start = [21; 21]; goal = [worldsize;worldsize]; obstacles = [60,60; 140,140; 220,100;140,220;220,180;260,260;60,180]; for i=1:tot_obstacles start_row = obstacles(i,1); start_col = obstacles(i,2); world(start_row:start_row+obstacle_size-1,start_col:start_col+obstacle_size-1) = obstacle; end ir_source = goal; pos = start; theta = 1; power = 5; image(world); for i=1:maxtime row=pos(1); col = pos(2); [theta power] pos sx = 5*[cos(theta+1.57);sin(theta+1.57)]; sy = 20*[cos(theta);sin(theta)]; vertices = [pos+(sx+sy),pos+sx,pos-sx,pos+(-sx+sy)]; mpl = round((vertices(:,1)+vertices(:,2))*.5); mpr = round((vertices(:,3)+vertices(:,4))*.5); rv = round(vertices); bump_fl = world(rv(1,1),rv(2,1)); bump_fr = world(rv(1,4),rv(2,4)); bump_back = world(rv(1,2),rv(2,2))+world(rv(1,3),rv(2,3)); bump_l = world(mpl(1),mpl(2)); bump_r = world(mpr(1),mpr(2)); % image(world); patch(vertices(2,:),vertices(1,:),125); drawnow; line_to_beacon = ir_source - pos; front_beacon_angle = atan2(line_to_beacon(2),line_to_beacon(1))-theta; front_beacon = max(255*cos(front_beacon_angle),0); left_beacon = max(255*cos(front_beacon_angle-1.5708),0) ; right_beacon = max(255*cos(front_beacon_angle+1.5708),0); back_beacon = max(255*cos(front_beacon_angle-pi),0); beacons = [front_beacon,left_beacon,right_beacon,back_beacon]; photo_front = world(round(row+cos(theta)*35),round(col+sin(theta)*35)); photo_left = world(round(row+cos(theta-.2)*35),round(col+sin(theta-.2)*35)); photo_right = world(round(row+cos(theta+.2)*35),round(col+sin(theta+.2)*35)); [photo_front photo_left photo_right] if bump_fl power = -5; theta = theta -.7; elseif bump_fr power = -5; theta = theta +.7; elseif bump_l theta = theta - .3; elseif bump_r theta = theta + .3; elseif bump_back power = 5; else if photo_left if photo_front theta = theta + .6; else theta = theta + .3; end else if photo_right if photo_front theta = theta - .6; else theta = theta - .3; end end end end pos = pos + power*[cos(theta);sin(theta)]; end %-------------klip here -----------
Mobile Robotics Page
This page is maintained by
Last update: 21.6.00.
This page is maintained by CB.
Last update: 21.6.00.