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  1. Elegantavoiding of obstacle MSRDS First Beginner Course – STEP5 Young Joon Kim http://www.helloapps.com

  2. Topics • Preparing basic environment • Detecting distance by using laser distance sensor • Stopping robot driving • Avoiding obstacles

  3. Preparing basic environment

  4. Preparing basic environment • Add a “Data” activity and “SPL Engine” • Type “Script/BasicEnv4.txt” in the “Data” activity

  5. Preparing basic environment • Execution result

  6. Detecting distance by using laser distance sensor

  7. Detecting distance by using laser sensor • Laser distance sensor • Detect distance against target • Notify distance with millimeter unit • Max distance is 8000 millimeter • SPL Engine provides notification data for laser sensor • LRFNotify • EntityName • SensorData • DistanceMeasurements

  8. Detecting distance by using laser sensor • Add “SPL Sensors” service by dragging

  9. Detecting distance by using laser sensor • Add “Calculate” activity

  10. Detecting distance by using laser sensor • Connect the notification point of “SPL Sensors” to the input point of “Calculate” activity

  11. Detecting distance by using laser sensor • Select “LRFNotify” item from the left list

  12. Detecting distance by using laser sensor • Type ““Distance is “ +” in the Calculate • Select “SensorData” from the list

  13. Detecting distance by using laser sensor • Add “.” • Select “DistanceMeasurements” item from the list

  14. Detecting distance by using laser sensor • Add “[180]” • “Distance is “ + SensorData.DistanceMeasurements[180]

  15. Laser Sensor Data • DistanceMeasurements • Array of 361 distances For 180 angles, Detect distances by 0.5 degrees 180th 90th 270th 0thindex 360th Millimeter unit,max distance is8m(8000 millimeter)

  16. Laser Sensor Data • Distance for the front direction • SensorData.DistanceMeasurements[180] • Distance for the right 45 degrees direction • SensorData.DistanceMeasurements[90] • Distance for the left 45 degrees direction • SensorData.DistanceMeasurements[270] • Distance for the right direction • SensorData.DistanceMeasurements[0] • Distance for the left direction • SensorData.DistanceMeasurements[360]

  17. Detecting distance by using laser sensor • Add “HelloApps Console” service

  18. Detecting distance by using laser sensor • Connect the output point of “Calculate” activity to the input point of “Console” service

  19. Detecting distance by using laser sensor • Select “WriteLine” item from the right list

  20. Detecting distance by using laser sensor • Select “value” item from the left list

  21. Detecting distance by using laser sensor • Save and run diagram

  22. Detecting distance by using laser sensor • Execution results

  23. Stopping robot driving

  24. Stopping robot driving • If the distance from obstacle is below 1m(1000millimeter), make a robot stop • If(SensorData.DistanceMeasurements[180] < 1000) • myrobot.Stop()

  25. Stopping robot driving • Remove “Calculate” activity and “Console” service

  26. Stopping robot driving • Add a “If” activity

  27. Stopping robot driving • Connect the notification point of “SPL Sensors” to the input point of “If” activity

  28. Stopping robot driving • Select “LRFNotify” item from the list

  29. Stopping robot driving • Click textbox in the “If” activity • Select “SensorData” item from the list

  30. Stopping robot driving • Type “.” • Select “DistanceMeasurements” item from the list

  31. Stopping robot driving • Type “[180] < 1000”

  32. Stopping robot driving • Add “Stop driving” diagram Add diagram

  33. Stopping robot driving • Connect the output point of “If” condition to the input point of “Data” activity

  34. Stopping robot driving • Save and run diagram

  35. Stopping robot driving • Execution result Stop

  36. Avoiding obstacles

  37. Avoiding obstacles • Modify “Stop driving” diagram into “Turn 90 degrees” • Turn(90, 0.2)

  38. Avoiding obstacles • Add “Go forwards” diagram and connect them • Go(0.2)

  39. Avoiding obstacles • Save and run diagram

  40. Avoiding obstacles • Execution result