International Journal of Internet, Broadcasting and Communication

The Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회)
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Performance Comparison of Sensor-Programming Schemes According to the Shapes of Obstacles

  • Chung, Jong-In (Department of Computer Education, Kongju National University) ;
  • Chae, Yi-Geun (Department of Computer Engineering, Kongju National University)
  • Received : 2021.06.07
  • Accepted : 2021.06.15
  • Published : 2021.08.31
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Abstract

MSRDS(Microsoft Robotics Developer Studio) provides the ability to simulate these technologies. SPL(Simple Programming Language) of MSRDS provides many functions for sensor programming to control autonomous robots. Sensor programming in SPL can be implemented in two types of schemes: procedure sensor notification and while-loop schemes. We considered the three programming schemes to control the robot movement after studying the advantages and disadvantages of the sensor notification procedure and the while-loop scheme. We also created simulation environments to evaluate the performance of the three considered schemes when applied to four different mazes. The simulation environment consisted of a maze and a robot with the most powerful sensor, i.e., the LRF(Laser Range Finder) sensor. We measured the required travel time and robot actions (number of turns and number of collisions) needed to escape the maze and compared the performance outcomes of the three considered schemes in the four different mazes.

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