Table 3.
Robot reference model.
| Input variables | Values | escription |
|---|---|---|
| Pi∈{1,2,…,8} | [0,1] | Proximity sensor i, 0 = nothing in range, 1 = object adjacent to sensor |
| θ | [−π, π) | Compass, giving pose angle in world frame |
| {0, …, 16} | Number of neighboring Xpucks | |
| (r, ∠b)i∈{1, …, n},n ≠ 0 | ([rmin, rmax], [−π, π)) | Range and bearing of neighbor m |
| Ri∈{left,center,right} | {0, 1} | Red blob detection |
| Gi∈{left,center,right} | {0, 1} | Green blob detection |
| Bi∈{left,center,right} | {0, 1} | Blue blob detection |
| Output variables | ||
| vi∈{left,center,right} | [−vmax, vmax] | Left and right wheel velocities |
| Constants | ||
| tupdate | 100 ms | Controller update period |
| rmin | 0.075 m | Minimum range and bearing range (center to center) |
| rmax | 0.5 m | Maximum range and bearing range (center to center) |
| vmax | 0.13 ms−1 | Maximum wheel velocity |
| ∠qi∈{1,2,…,8} | 0.297, 0.855, 1.571, 2.618, −2.618, −1.571, −0.855, −0.297 | Angle of proximity sensor i |
| pmax | 0.04 m | Proximity sensor maximum range |