Friday, November 17, 2006

"On the floor"-action

Today we have made some satisfying progress. The status so far on the different parts of our project is as follows.

Grid:
At the moment, we operate with three different colors on the floor, such that the NXT can differentiate between floor, line and intersection in our grid. We have a black line, yellow intersections and gray floor. This is not too good, because the floor and intersections is both brighter than the line. This results in problems when we want to distinguish between the two because it is possible for the light sensor to read a value that is similar to gray, when it is situated between the black line and a yellow intersection, hence both reads from black and yellow and gives a mean that "looks like" gray. Ie. readings can be ambiguous.

The solution to this problem is to create a grid where the line has the intermediate brightness between intersection and floor. For example, let the floor be brighter than the line and the intersections darker. In this environment, no ambiguous readings can occur.

NXT program:
The program running on the NXT is basically a big switch-statement.
It runs forever, and listens on a Bluetooth inbox. Depending on what message is delivered (from our .NET application) in this inbox, the NXT can turn left, turn right, follow the line to next intersection, turn around, pick up a ball, release the ball or leave the ball. (I might be missing some actions...)

This program is almost complete for our final application, and only minor correction/additions is required.

.Net application:
By now, we have an application that can control one NXT in the grid. It takes initial values, being NXT position and direction. For example, x=1, y=1, direction="North".

We can then input a new position, and the program will calculate a shortest path to this new position from it's current position. For this purpose we use an implementation of the heuristic algorithm A*. And then (of course) the NXT will go to this new position following the calculated path.

Quite nice to finally have something working "on the floor".

Now the real fun begins. We will implement a complex agent system with multiple agents that will cooperate to solve a task in the grid.

4 comments:

Anonymous said...

I am sorry, this variant does not approach me. Perhaps there are still variants?

Anonymous said...

Howdy,

I mostly visits this website[url=http://www.weightrapidloss.com/lose-10-pounds-in-2-weeks-quick-weight-loss-tips].[/url]Plenty of useful information on multiagentrobotics.blogspot.com. Do you pay attention towards your health?. Are you really serious about your weight?. Recent Scientific Research displays that closely 60% of all United States grownups are either fat or weighty[url=http://www.weightrapidloss.com/lose-10-pounds-in-2-weeks-quick-weight-loss-tips].[/url] So if you're one of these people, you're not alone. In fact, most of us need to lose a few pounds once in a while to get sexy and perfect six pack abs. Now next question is how you can achive quick weight loss? [url=http://www.weightrapidloss.com/lose-10-pounds-in-2-weeks-quick-weight-loss-tips]Quick weight loss[/url] is really not as tough as you think. Some improvement in of daily activity can help us in losing weight quickly.

About me: I am writer of [url=http://www.weightrapidloss.com/lose-10-pounds-in-2-weeks-quick-weight-loss-tips]Quick weight loss tips[/url]. I am also health expert who can help you lose weight quickly. If you do not want to go under painful training program than you may also try [url=http://www.weightrapidloss.com/acai-berry-for-quick-weight-loss]Acai Berry[/url] or [url=http://www.weightrapidloss.com/colon-cleanse-for-weight-loss]Colon Cleansing[/url] for effortless weight loss.

Anonymous said...


Pretty! This has been an extremely wonderful article. Thank you for supplying these details.

Anonymous said...

vertisements celebrated everyday news described how the banking companies have become stricter somewhere around their lending report in using a personal loan involving an increased home [url=http://www.instantloansmoose.co.uk/]instant payday loans[/url] http://www.instantloansmoose.co.uk/ It really is prudent to continually consider your options carefully in advance of agreeing to any type of loan terms http://www.yvmjv.co.uk/