Turns & Rotations

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In NetLogo, it is very hard or rather impossible to visualize the proper rotations of the window cleaning robot during its motion and subsequently end up at exactly the right position. Therefore it was decided to not visualize the rotations, but instead, the turning movements are modeled by letting the robot ’teleport’ from the place before to the place after the turn. The time it takes to make a certain turn is then simply added to the time instance before the rotation. In this way, it is still possible to model the turns and rotations of the window cleaning robot in a realistic way. The question becomes then what will be the time that each specific turn takes? To give realistic values for this, the characteristic rotations and turns of the window cleaning robot are studied. In total there are six different turns or rotations which the window cleaning robot should be able to make. They are schematically shown in the figure below.