Download Method Summary

Section I Report --- ROBOT PATROL SYSTEM
In this application may take place a tricky situation, which lead to
the robot to a wrong final position. That occurs when the B point is
enclosed in some connected obstacles, forming a structure of “U”. Thus,
when the robot finishes the counting and it thinks the total distance is
already travelled and it is placed on the B point, actually is not.
The next figure can shed a idea about what it means.
Figure 32: B point enclosed within tricky obstacle
To manage this challenge, it has added a new function in the
algorithm, so called “WayCorrection”, in which some breakpoints are
saved in order to determine in which position the robot finish travelling
Daniel Egido Sánchez de Vega
52