It is known that robot shape is circular, omnidirectional motion
and the robot will travel inside a maze (sample of the maze is
shown in Fig. 1)
a. Which sensors would probably be used ? (it might be several
sensors type)
b. give the reasons why you use these sensors ? and its advantages
and disadvantages
c. Describe where the location of the sensors in robot ? (draw it
schematically)
d. Create the algorithms to detect obstacles surrounding the robot
and give these states to main controller. (and later, based on
these state, the main controller will decide the motion to avoid
crash). Describe your algorithm using either flowchart or
pseudo-code.
Notes :
1. you can make the assumption concerning the robot, such as
the robot motion resolution, and the sensors, such as
distance/contact/tactile (depend on the sensors you
choose)
2. The algorithm that you create is only for the sensors that are
used for crash detection purposes (not to decide the motion for
avoiding the crash or the motion planning purposes), so your
attention is only on any obstacles surrounding the robot and what
kind the sensors robot need.
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