ararun / waste_removal_k_1

Waste Removal

Aim

This is to design a simple foraging experiment. We are going to to write a generic
program that lets robots taking objects and moving them to preferred locations.

sensors used

• proximity
• omni_directional_camera
• positioning
• differential_steering

actuators used

• turret
• gripper
• differential_steering
• leds

Implementation

So we have a set of robots that are going to search for obstacles find them,
capture/grab them bring them to desired location. So first arena design.

States Table

State	function
roam	searches for obstacles once found goes to choose
approach	we go near the chosen obstacle and change state to grab
grab	grab the obstacle change to nearest_border_orient state
nearest_border_orient	according to pos we decide which side to go change state to home
home	we try to go to black area once there drop there drop the obstacle change state to roam back again

To run

$ cd waste_removal_k_1/
$ argos3 -c settings.argos