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Wall Detection
The intensity difference between the floor and the wall is easily determined by the Wall Finder
module. This module will place a red stripe where it seems a maximum change from the bottom of the image
towards the top. This is not unlike the built in capabilities of the SRV-1 used in the wander mode.
Running this module on the image reveals
where we can nicely see the red line separating the floor and the wall. When this module runs it produces a couple of
variables that help describe the line seen in the image.
AVERAGE_WALL_X 159
AVERAGE_WALL_Y 136
HIGHEST_WALL_X 150
HIGHEST_WALL_Y 145
LOWEST_WALL_X 301
LOWEST_WALL_Y 128
WALL_SLOPE -1.0
In particular we are interested in the
LOWEST_WALL_Y and WALL_SLOPE variables. The LOWEST_WALL_Y indicates the lowest point of the detected
boundary and effectively indicates how close the robot is to the wall. The WALL_SLOPE variable provides
an estimate of the slope of the detected line and can be used to determine the angle of approach
of the robot to the wall.
Using these variables it is now possible to create a script to navigate the robot around our room.
Onto some VBScript scripting ...
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