Your project mission: Write a controller for a vacuum
cleaner. There are recharging stations that emits
sound that can be heard by the robot's two ears. Since
the robot's ears are quite a distance apart, you can
triangulate to find the source of the sound. Each
"ear" measures sound intensity and the value is
obtained by summing over the contributions of all
sound sources (at each ear). Sound falls off inversely
proportional to the square of the distance.
The robot has 5 touch sensors, two in front, two in
the back, and a central body touch sensor. You have
two motors, each motor has four speeds: reverse, stop,
forward, fast-forward. The faster you go, the more you
drain your battery. The objective for your controller
is to:
- Maximize area covered
- Minimize number of battery recharges