Wozbot Software in Action This html code was taken from http://www.freetoolsassociation.com. Learn more about this emulator on that page (Click on the ACTIVEGS button when you get there). The woz.zip file is my own doing. Scroll past the emulator window to read some background material.
This is a demonstration of software I am working on to control an autonomous robot. The code moves a robot (with sonar sensors) around a 2-d environment (all simulated to speed development). code now "enlarges" obstructions by one cell in all directions before flood fill. This prevents the robot from thinking it can clip the corners, and it no longer runs into the walls. Searching has been made more efficient. Seeking to an unexplored square has been optimized so that the robot doesn't go around in circles to get there. I have completely redesigned the way the robot represents his map, making it more efficient and uses less memory. I 1/2'd the memory again by initializing search grids right over the top of maps in memory. you have to load the map again once the search is done, but it cuts down on RAM usage. On the left you see a blinking X cursor. that is the cursor you can use to place the ORIGIN of the search. procedure to watch demo: have a PC with internet exploder, so now the robot can explore larger areas more quickly. the size of searches is limited by available RAM so far...I can load 20 maps into memory and search them. The size of the map is limited by 8 bit numbers. you can have a map 256*256 segments in size. each segment is 20*20 cells. Within the navigation code, each cell is treated as a 6" * 6" square in the real world. That is 10' X 10' for each segment. 2560' X 2560' is the maps limit. That is a bunch of square footage. next to add: even more efficient searches, flags to tell if a segment had any search expansion in it, FLAG to tell if a flood-fill cycle produced any search expansion is now in operation. save/remove from table/compact memory when a segment didn't get updated by a search pass.