Simulating a Robot Maze in Matlab Espinoza, Lilia.
[email protected] [email protected].. Aldaz, Jorge.
[email protected] [email protected].. Infante, Jefferson. jefferson_ba Jefferson. jefferson_barsaelidolo@hotm
[email protected] ail.com.. Masaquiza, Bryan.
[email protected] b_masaquiz
[email protected]..
ystem enabl enabl es us to Abstract: Th is simul ation system see the oper oper ation of a robot m aze, aze, which i s programmed programmed with the ri ght prior ity, to for m part of th e trajectory trajectory is made an algori thm i n th e for m of matri x of n columns and m rows, rows, for i ts operati operati on determ determ in es the way only wi th on es which this ange anger f ollowing if and only only if in the case case of zeros zeros determi determi ne it as a wall and back by the same same path path u nti l you fi nd new space space..
Keywords: robot, maze matrix, ones, zeros.
I. INTRODUCTION INTRODUCTION
First of all, I will explain what is you project, is the construction of a robot capable of solving mazes simulated in Matlab. This project was already intended for quite some time, in order to see it working in a software clearly, this application allows us to understand in a more precise manner the two priorities of the robot left and right. Well, I'm going to go a bit more into the General characteristics of this project. We must build a labyrinth in Matlab of n number of rows and number of columns m. After this introduction, I enter in my simulation, which perform the same function of a physical robot.
II. DEVELOPMENT AND DESIGN
GUIs (also known as graphical user interfaces or UIs) provide point-andclick control of software applications, eliminating the need to learn a language or type commands in order to run the application. MATLAB apps are self-contained MATLAB programs with GUI front ends that automate a task or calculation. The GUI typically contains controls such as menus, toolbars, buttons, and sliders.
Many MATLAB products, such as Curve Fitting Toolbox, Signal Processing Toolbox, and Control System Toolbox, include apps with custom user interfaces. You can also create creat e your own custom apps, including their corresponding UIs, for others to use. Creating
a
MATLAB
GUI
Programmatically
For more control over design and development, you can also create MATLAB code that defines all component properties and behaviors. MATLAB contains built-in functionality to help you create the GUI for your app programmatically. programmaticall y. You can add dialog boxes, user interface controls (such as push buttons and sliders), and containers (such as panels and button groups). Matrix
In MATLAB, a matrix is a rectangular array of numbers. Special meaning is sometimes attached to 1-by-1 matrices, which are scalars, and to matrices with only one row or column, which are vectors. MATLAB has other ways of storing both numeric and nonnumeric data, but in the beginning, it is usually best to think of everything as a matrix. The operations in MATLAB are designed to be as natural as possible. Where other programming languages work with numbers one at a time, MATLAB allows you to work with entire matrices quickly and easily. The best way for you to get started with MATLAB is to learn how to handle matrices. Start MATLAB and follow along with each example. You can enter matrices into in to MATLAB in several different ways: • Enter an explicit list of elements.
• Load matrices from external data files. • Generate matrices using built-in functions. • Create matrices with your own functions in M-files. Start by entering Dürer’s matrix as a list of its elements. You only have to follow a few basic conventions: • Separate the elements of a row with blanks or commas. • Use a semicolon, to indicate the end of each row. • Surround the entire list of elements with square brackets, [ ]. Variables MATLAB does not require any type declarations or dimension statements. When MATLAB encounters a new variable name, it automatically creates the variable and allocates the appropriate amount of storage. If the variable already exists, MATLAB changes its contents and, if necessary, allocates new storage. For example, num_students = 25 creates a 1-by-1 matrix named num_students and stores the value 25 in its single element. To view the matrix assigned to any variable, simply enter the variable name. Variable names consist of a letter, followed by any number of letters, digits, or underscores. MATLAB is case sensitive; it distinguishes between uppercase and lowercase letters. A and a are not the same variable. Although variable names can be of any length, MATLAB uses only the first N characters of the name, (where N is the number returned by the function namelengthmax), and ignores the rest. Hence, it is important to make each variable name unique in the first N characters to enable MATLAB to distinguish variables. Handle Graphics refers to a system of graphics objects that MATLAB uses to implement graphing and visualization functions. Each object created has a
fixed set of properties. You can use these properties to control the behavior and appearance of your graph. When you call a plotting function, MATLAB creates the graph using various graphics objects, such as a figure window, axes, lines, text, and so on. MATLAB enables you to query the value of each property and set the values of most properties. For example, the following statement creates a figure with a white background color and without displaying the figure toolbar. figure('Color','white','Toolbar','none') Well, the robot is primarily of labyrinth, passes this should move within a labyrinth of walls that are delimited by zeroes, with various deviations and possibilities, and the take in certain order according to priority send that to run the algorithm road to follow so one that is marked as career this way is manual entry according to the needs of the user. Our idea was go keeping in a trajectory that you go painting to mark the path by which the robot toured, in the same way is marked with another color when the robot returns after having detected a wall in this House a zero. The algorithm works when it takes the right road, in case it is not possible i.e. in zero search to find a new path and returns, as the last resource, the one on the left. This option is much simpler and avoids a problem we raised with the other, which recognize a point that had already passed. Testing with algorithms and drawn path. Features maze. MATLAB is one of the most sophisticated software which allows us to develop applications in this case of robotics to see the behavior of a robot in real life for the corrento operation of the priorities that will be used, that they are left priority and priority right, form a
matrix of zeros with the option to change to mark the path of the robot with ones. The labyrinth has some walls that are composed of only zeros the how is generated through an array of n columns and m rows. Initially, will not take any ones, each will be marking according to the user's need to test its performance. Matlab programming is performed using the guide is a chart for the development of many programs dynamically interface. We used in our GUI buttons to access various functions, axes to obserbar our parent and above our path maze. When programming the buttons had to be aware that function was to play and to enter the programming created an .m file. we called to the function and start with the programming. The program has to follow matrices that when we create an array containing 1 and 0, where zero is the wall and the one is the way. involves taking into account the positions of the matrix in order to compare the way and the simulation of the robot maze follow the proposed path, also it is given two left and right priorities. For us know if we have right priority in the way of the matrix we compared in a position that is already marked the path of color blue, if going up and if the right the column is added plus 1 and compared to see if there way there, if any at intervals of position matrix under column column plus 1 is set, and change the value of the tour this becomes also a condition which also changes the value of matrix. Similarly if going in the matrix horizontally and want to know if there is way to the right, in this case we add rows plus 1. And if we want to have left precedence in the way of the matrix we compared in
a position that is already marked the path of light blue, if going up and if the right ie the column will subtract 1 and compared to see if there way there, if there is the value of position under column matrix least 1 column sets, and change the value of this tour becomes also a condition which also changes the value of the array. Similarly if going in the matrix horizontally and want to know if there is way to the left, in this case we subtract rows minus 1. III. CONCLUSIONS
Matlab is a sophisticated software which allows us to carry out programmes and see it working visually if we use the application's graphical user interface. The development of the area which is to develop the simulation of robot maze is a matrix of zeros and ones. To trace the path by which the robot will develop meeting schedule in the algorithm is fulfilled in the following way: If the robot bumps into zeros is detected as a wall in a physical robot is detected. In the algorithm was developed a tracking system that consists of mark the path that the robot runs where the robot look in need of return and if his track record makes it will be marked in another color. IV. REFERENCES http://www.mathworks.com/disco very/matlab-gui.html http://nl.mathworks.com/academ ia/student_version/learnmatlab_s p3.pdf http://nl.mathworks.com/academ ia/student_version/learnmatlab_s p3.pdf
Simulating a Robot Maze in Matlab Espinoza, Lilia.
[email protected]. Aldaz, Jorge.
[email protected]. Infante, Jefferson.
[email protected]. Masaquiza, Bryan.
[email protected].
