the gaps, scores the gaps, calculates the direction the largest gap, and outputs the steering frame velocity. Figure 617. Calculate Driving Direction VI input and output connections Figure 618. Calculate Driving Direction block diagram The Calculate Driving Direction VI the Simple Vector Field Histogram (VFH) VI (Functions>>Robotics>>Obstacle Avoidance palette) whose connections are shown in Figure 619 that identifies obstacles and gaps, or open areas, in the robot environment. You can use the gap information in a variety of robots, not just DaNI 2.0, to implement reactionary motion. The VFH VI outputs the largest gap data, which is a cluster of two values, the location of the largets gap and the size of the gap. Largest gap describes the largest open area in the robot environment. Angle to gap contains the direction of the open area with respect to the robot sensor. Size of gap contains the angular size, or visual diameter, of the open area, measured as an angle. Figure 619. Simple Vector Histogram VI input and output connections The VFH VI also determines if is an obstacle within the panid range. Panic range is an area of the environment to avoid, i.e. the obstacle is too close to continue driving forward and avoiding. The Roaming VI code commands DaNI to back away If there are obstacles in the panic range. The panic range data structure is a cluster of two elements. The panic threshold distance specifies the maximum distance at which obstacle within panic range is TRUE. Panic threshold angle specifies the maximum angle at which obstacle within panic range is TRUE. Obstacle within panic range is TRUE if an object within panic threshold angle is nearer to the sensor than the panic threshold distance. Distances and direction angles inputs are obtained from the scanned obstacles data structure. Distances is an array of range data to obstacles. Direction angles is an array of angles with respect to the center of the sensor corresponding to each of the distances. Positive values of angles represent locations to the right of the center of the sensor, and negative values represent positions to the left of the center of the sensor.
the gaps, scores the gaps, calculates the direction the largest gap, and outputs the steering frame velocity. Figure 617. Calculate Driving Direction VI input and output connections Figure 618. Calculate Driving Direction block diagram The Calculate Driving Direction VI the Simple Vector Field Histogram (VFH) VI (Functions>>Robotics>>Obstacle Avoidance palette) whose connections are shown in Figure 619 that identifies obstacles and gaps, or open areas, in the robot environment. You can use the gap information in a variety of robots, not just DaNI 2.0, to implement reactionary motion. The VFH VI outputs the largest gap data, which is a cluster of two values, the location of the largets gap and the size of the gap. Largest gap describes the largest open area in the robot environment. Angle to gap contains the direction of the open area with respect to the robot sensor. Size of gap contains the angular size, or visual diameter, of the open area, measured as an angle. Figure 619. Simple Vector Histogram VI input and output connections The VFH VI also determines if is an obstacle within the panid range. Panic range is an area of the environment to avoid, i.e. the obstacle is too close to continue driving forward and avoiding. The Roaming VI code commands DaNI to back away If there are obstacles in the panic range. The panic range data structure is a cluster of two elements. The panic threshold distance specifies the maximum distance at which obstacle within panic range is TRUE. Panic threshold angle specifies the maximum angle at which obstacle within panic range is TRUE. Obstacle within panic range is TRUE if an object within panic threshold angle is nearer to the sensor than the panic threshold distance. Distances and direction angles inputs are obtained from the scanned obstacles data structure. Distances is an array of range data to obstacles. Direction angles is an array of angles with respect to the center of the sensor corresponding to each of the distances. Positive values of angles represent locations to the right of the center of the sensor, and negative values represent positions to the left of the center of the sensor.
mobile_robot_experiments.docx