Mobile Robot Control 2024 Ultron:Solution 1

Exercise1

Hao:

1. Boolean Flag:
   • A boolean flag named 'move ' is used to control whether the robot should continue moving or stop.
   • It is initialized to 'true', indicating that the robot is initially allowed to move.
2. Obstacle Detection:
   • The program continuously reads laser sensor data inside the control loop.
   • If any distance measurement from the laser scan is less than 0.2, an obstacle is detected.
3. Stopping Action:
   • When an obstacle is detected, the 'move ' flag is set to 'false'.
   • Setting 'move ' to 'false' indicates that the robot should stop moving.
   • Additionally, a stop command 'io.sendBaseReference(0, 0, 0)' is sent to the base controller immediately after detecting the obstacle.
4. Control Loop Condition:
   • The control loop continues executing as long as the robot is properly connected 'io.ok()' and the 'move ' flag is 'true'.
   • Once the 'move' flag is set to 'false' , the control loop stops executing, effectively halting the robot's motion.