globals [ col_cnt col_radius min_col_dist steps_cnt ] turtles-own [ excor eycor eheadx eheady vwl vwr headx heady evading? newexcor neweycor newehx newehy terror ] to setup ;SETUP sets up the model according to the values indicated by all the sliders and the switch and chooser. ;; (for this model to work with NetLogo's new plotting features, ;; __clear-all-and-reset-ticks should be replaced with clear-all at ;; the beginning of your setup procedure and reset-ticks at the end ;; of the procedure.) clear-all ; Set the map. if maps = "map 1" [ map1 ] if maps = "map 2" [ map2 ] if maps = "map 3" [ map3 ] if maps = "map 4" [ map4 ] ; Create the robots. crt rob_num ; Set the robots' initial data. ask turtles [ set shape "robot" set color blue set headx sin heading set heady cos heading set vwl 1 set vwr 1 set eheadx headx set eheady heady set excor xcor set eycor ycor set evading? false ] ; Set global values. set steps_cnt 0 set col_cnt 0 set col_radius 0.5 set min_col_dist 0.00000001 end to-report calc_movement [ vl vr xcr ycr hedx hedy ] ; CALC_MOVEMENT find the new heading and position according the former heading and poition and the velocities of the wheels. let ev ((vl + vr) / 2) set xcr (xcr + (ev * hedx)) set ycr (ycr + (ev * hedy)) let vx ((- hedy * wheel_dist / (sqrt 2)) + ((vl - vr) * hedx)) let vy (( hedx * wheel_dist / (sqrt 2)) + ((vl - vr) * hedy)) set hedx ( vy / sqrt ((vx * vx) + (vy * vy))) set hedy (- vx / sqrt ((vx * vx) + (vy * vy))) report (list (xcr) (ycr) (hedx) (hedy)) end to go ; GO is a forever button that executes the model continually. set steps_cnt (steps_cnt + 1) ask turtles [ set color blue let lerr_val 0 let rerr_val 0 if not evading? [ ; Calculate the new velocities of the wheels. let acc_max_val (max_vel * acceleration * 100) let lacc_val (((random (2 * acc_max_val + 1)) - acc_max_val) / 100) ifelse ((steps_cnt + who) mod 30) = 1 [ set vwl max (list (- max_vel) (min (list max_vel (vwl + lacc_val)))) set vwr -1 * (vwl) ] [ if ((steps_cnt + who) mod 30) = 10 [ set vwl max (list (- max_vel) (min (list max_vel (vwl + lacc_val)))) set vwr vwl ] ] let err_max_val (max_vel * err * 100) set lerr_val (((random (2 * err_max_val + 1)) - err_max_val) / 100) set rerr_val (((random (2 * err_max_val + 1)) - err_max_val) / 100) ] ; Calculate the new poistion and heading with and without error let l calc_movement (vwl + lerr_val) (vwr + rerr_val) excor eycor eheadx eheady set excor (first l) set l (but-first l) set eycor (first l) set l (but-first l) set eheadx (first l) set l (but-first l) set eheady (first l) set l calc_movement vwl vwr xcor ycor headx heady set xcor (first l) set l (but-first l) set ycor (first l) set l (but-first l) set headx (first l) set l (but-first l) set heady (first l) ; Can be used the show the trail of the robots in the map plot ; where the sky colored trail is the true trail and the green trail include the error. ; set-current-plot "map" ; set-plot-pen-color sky ; plotxy xcor ycor ; set-plot-pen-color green ; plotxy excor eycor ; Calcualte the error. set terror distancexy excor eycor ] ; Calculate the collisions and the information passing. ask turtles [ set newehx eheadx set newehy eheady set newexcor excor set neweycor eycor let rangle2diff (towardsxy (xcor + headx) (ycor + heady)) let near_robot (one-of ((turtles in-radius col_radius) with [(self != myself) and (distance myself > min_col_dist)])) ;;;;;let near_robot (one-of ((turtles in-radius-nowrap col_radius) with [(self != myself) and (distance-nowrap myself > min_col_dist)])) if (near_robot != nobody) [ ask (near_robot) [ set color green set col_cnt (col_cnt + 1) if pass_info [ ;WORLD CALCULATION let angle1 (towards myself) let angle2 (angle1 + 180) mod 360 let rangle1 (angle1 - (towardsxy (xcor + headx) (ycor + heady)) + 360) mod 360 let rangle2 (angle2 - rangle2diff + 360) mod 360 ;ROBOT CALCULATION let evecx ( eheadx * cos(rangle1) + eheady * sin(rangle1)) let evecy (- eheadx * sin(rangle1) + eheady * cos(rangle1)) let eposx2 (excor + col_radius * evecx) let eposy2 (eycor + col_radius * evecy) let turnby (rangle1 + 180 - rangle2) let eheadx2 ( eheadx * cos(turnby) + eheady * sin(turnby)) let eheady2 (- eheadx * sin(turnby) + eheady * cos(turnby)) ask myself [ set newexcor eposx2 ] ask myself [ set neweycor eposy2 ] ask myself [ set newehx eheadx2 ] ask myself [ set newehy eheady2 ] ] ] ] ] ; Averaged the new knowedge with the old one. ; Notice that if the robots pass no information than the old information equals to the new. ; thus averaging them will cause no effect, but for nimor numerical problems. ask turtles [ set newehx (newehx + eheadx) / 2 set newehy (newehy + eheady) / 2 let norm sqrt(newehx * newehx + newehy * newehy) set eheadx newehx / norm set eheady newehy / norm set excor (newexcor + excor) / 2 set eycor (neweycor + eycor) / 2 ] ; Plot the minimal and average distance error. let mindist 0 ;;;;;ask min-one-of turtles [distancexy-nowrap excor eycor] [ ask min-one-of turtles [distancexy excor eycor] [ ;;;;;set mindist distancexy-nowrap excor ycor set mindist distancexy excor ycor ] set-current-plot "Minimal distance error" set-plot-pen-color blue plot mindist set-current-plot "Average distance error" plot mean [terror] of turtles let avg_err mean [terror] of turtles ; Show patches of collisions and draw the map plot. ask patches with [ pcolor = red ] [ set pcolor black ] ask patches with [any? turtles-here] [ ifelse pcolor = black [ set pcolor red ask turtles-here [ if not evading? [ set vwl (- vwl) set vwr (- vwr) ] set evading? true set-current-plot "map" set-plot-pen-color black ; Can be used the show on the map plot the real walls in red and the one with error in black. ; plotxy xcor ycor ; set-plot-pen-color red plotxy excor eycor ] ] [ ask turtles-here [ set evading? false ] ] ] ; Can be used to stop the simulation after a number of steps. ; if (steps_cnt = 1000) [ stop ] end ; From here to almost the end of the code the map drawing is done. ; It is done very clumsily, if there is a better way to do this, please do so. to boundries ask patches [ set pcolor white ] ask patch -17 -16 [ set pcolor black ] ask patch -17 -15 [ set pcolor black ] ask patch -17 -14 [ set pcolor black ] ask patch -17 -13 [ set pcolor black ] ask patch -17 -12 [ set pcolor black ] ask patch -17 -11 [ set pcolor black ] ask patch -17 -10 [ set pcolor black ] ask patch -17 -9 [ set pcolor black ] ask patch -17 -8 [ set pcolor black ] ask patch -17 -7 [ set pcolor black ] ask patch -17 -6 [ set pcolor black ] ask patch -17 -5 [ set pcolor black ] ask patch -17 -4 [ set pcolor black ] ask patch -17 -3 [ set pcolor black ] ask patch -17 -2 [ set pcolor black ] ask patch -17 -1 [ set pcolor black ] ask patch -17 0 [ set pcolor black ] ask patch -17 1 [ set pcolor black ] ask patch -17 2 [ set pcolor black ] ask patch -17 3 [ set pcolor black ] ask patch -17 4 [ set pcolor black ] ask patch -17 5 [ set pcolor black ] ask patch -17 6 [ set pcolor black ] ask patch -17 7 [ set pcolor black ] ask patch -17 8 [ set pcolor black ] ask patch -17 9 [ set pcolor black ] ask patch -17 10 [ set pcolor black ] ask patch -17 11 [ set pcolor black ] ask patch -17 12 [ set pcolor black ] ask patch -17 13 [ set pcolor black ] ask patch -17 14 [ set pcolor black ] ask patch -17 15 [ set pcolor black ] ask patch -17 16 [ set pcolor black ] ask patch -17 17 [ set pcolor black ] ask patch 17 -16 [ set pcolor black ] ask patch 17 -15 [ set pcolor black ] ask patch 17 -14 [ set pcolor black ] ask patch 17 -13 [ set pcolor black ] ask patch 17 -12 [ set pcolor black ] ask patch 17 -11 [ set pcolor black ] ask patch 17 -10 [ set pcolor black ] ask patch 17 -9 [ set pcolor black ] ask patch 17 -8 [ set pcolor black ] ask patch 17 -7 [ set pcolor black ] ask patch 17 -6 [ set pcolor black ] ask patch 17 -5 [ set pcolor black ] ask patch 17 -4 [ set pcolor black ] ask patch 17 -3 [ set pcolor black ] ask patch 17 -2 [ set pcolor black ] ask patch 17 -1 [ set pcolor black ] ask patch 17 0 [ set pcolor black ] ask patch 17 1 [ set pcolor black ] ask patch 17 2 [ set pcolor black ] ask patch 17 3 [ set pcolor black ] ask patch 17 4 [ set pcolor black ] ask patch 17 5 [ set pcolor black ] ask patch 17 6 [ set pcolor black ] ask patch 17 7 [ set pcolor black ] ask patch 17 8 [ set pcolor black ] ask patch 17 9 [ set pcolor black ] ask patch 17 10 [ set pcolor black ] ask patch 17 11 [ set pcolor black ] ask patch 17 12 [ set pcolor black ] ask patch 17 13 [ set pcolor black ] ask patch 17 14 [ set pcolor black ] ask patch 17 15 [ set pcolor black ] ask patch 17 16 [ set pcolor black ] ask patch 17 17 [ set pcolor black ] ask patch -17 -17 [ set pcolor black ] ask patch -16 -17 [ set pcolor black ] ask patch -15 -17 [ set pcolor black ] ask patch -14 -17 [ set pcolor black ] ask patch -13 -17 [ set pcolor black ] ask patch -12 -17 [ set pcolor black ] ask patch -11 -17 [ set pcolor black ] ask patch -10 -17 [ set pcolor black ] ask patch -9 -17 [ set pcolor black ] ask patch -8 -17 [ set pcolor black ] ask patch -7 -17 [ set pcolor black ] ask patch -6 -17 [ set pcolor black ] ask patch -5 -17 [ set pcolor black ] ask patch -4 -17 [ set pcolor black ] ask patch -3 -17 [ set pcolor black ] ask patch -2 -17 [ set pcolor black ] ask patch -1 -17 [ set pcolor black ] ask patch 0 -17 [ set pcolor black ] ask patch 1 -17 [ set pcolor black ] ask patch 2 -17 [ set pcolor black ] ask patch 3 -17 [ set pcolor black ] ask patch 4 -17 [ set pcolor black ] ask patch 5 -17 [ set pcolor black ] ask patch 6 -17 [ set pcolor black ] ask patch 7 -17 [ set pcolor black ] ask patch 8 -17 [ set pcolor black ] ask patch 9 -17 [ set pcolor black ] ask patch 10 -17 [ set pcolor black ] ask patch 11 -17 [ set pcolor black ] ask patch 12 -17 [ set pcolor black ] ask patch 13 -17 [ set pcolor black ] ask patch 14 -17 [ set pcolor black ] ask patch 15 -17 [ set pcolor black ] ask patch 16 -17 [ set pcolor black ] ask patch 17 -17 [ set pcolor black ] ask patch -17 17 [ set pcolor black ] ask patch -16 17 [ set pcolor black ] ask patch -15 17 [ set pcolor black ] ask patch -14 17 [ set pcolor black ] ask patch -13 17 [ set pcolor black ] ask patch -12 17 [ set pcolor black ] ask patch -11 17 [ set pcolor black ] ask patch -10 17 [ set pcolor black ] ask patch -9 17 [ set pcolor black ] ask patch -8 17 [ set pcolor black ] ask patch -7 17 [ set pcolor black ] ask patch -6 17 [ set pcolor black ] ask patch -5 17 [ set pcolor black ] ask patch -4 17 [ set pcolor black ] ask patch -3 17 [ set pcolor black ] ask patch -2 17 [ set pcolor black ] ask patch -1 17 [ set pcolor black ] ask patch 0 17 [ set pcolor black ] ask patch 1 17 [ set pcolor black ] ask patch 2 17 [ set pcolor black ] ask patch 3 17 [ set pcolor black ] ask patch 4 17 [ set pcolor black ] ask patch 5 17 [ set pcolor black ] ask patch 6 17 [ set pcolor black ] ask patch 7 17 [ set pcolor black ] ask patch 8 17 [ set pcolor black ] ask patch 9 17 [ set pcolor black ] ask patch 10 17 [ set pcolor black ] ask patch 11 17 [ set pcolor black ] ask patch 12 17 [ set pcolor black ] ask patch 13 17 [ set pcolor black ] ask patch 14 17 [ set pcolor black ] ask patch 15 17 [ set pcolor black ] ask patch 16 17 [ set pcolor black ] ask patch 17 17 [ set pcolor black ] end to map1 boundries end to map2 boundries ask patch 0 -1 [ set pcolor black ] ask patch 0 -2 [ set pcolor black ] ask patch 0 -3 [ set pcolor black ] ask patch -1 -3 [ set pcolor black ] ask patch -1 -2 [ set pcolor black ] ask patch -1 -1 [ set pcolor black ] end to map3 boundries ask patch -10 15 [ set pcolor black ] ask patch -9 15 [ set pcolor black ] ask patch -7 15 [ set pcolor black ] ask patch -6 15 [ set pcolor black ] ask patch -10 14 [ set pcolor black ] ask patch -9 14 [ set pcolor black ] ask patch -7 14 [ set pcolor black ] ask patch -6 14 [ set pcolor black ] ask patch -10 13 [ set pcolor black ] ask patch -9 13 [ set pcolor black ] ask patch -8 13 [ set pcolor black ] ask patch -10 12 [ set pcolor black ] ask patch -9 12 [ set pcolor black ] ask patch -7 12 [ set pcolor black ] ask patch -6 12 [ set pcolor black ] ask patch -10 11 [ set pcolor black ] ask patch -9 11 [ set pcolor black ] ask patch -7 11 [ set pcolor black ] ask patch -6 11 [ set pcolor black ] ask patch 3 11 [ set pcolor black ] ask patch 4 11 [ set pcolor black ] ask patch 3 10 [ set pcolor black ] ask patch 4 10 [ set pcolor black ] ask patch 8 10 [ set pcolor black ] ask patch 9 10 [ set pcolor black ] ask patch 10 10 [ set pcolor black ] ask patch 11 10 [ set pcolor black ] ask patch 12 10 [ set pcolor black ] ask patch 13 10 [ set pcolor black ] ask patch 14 10 [ set pcolor black ] ask patch 15 10 [ set pcolor black ] ask patch 16 10 [ set pcolor black ] ask patch 3 9 [ set pcolor black ] ask patch 4 9 [ set pcolor black ] ask patch 8 9 [ set pcolor black ] ask patch 9 9 [ set pcolor black ] ask patch 10 9 [ set pcolor black ] ask patch 11 9 [ set pcolor black ] ask patch 12 9 [ set pcolor black ] ask patch 13 9 [ set pcolor black ] ask patch 14 9 [ set pcolor black ] ask patch 15 9 [ set pcolor black ] ask patch 16 9 [ set pcolor black ] ask patch -5 8 [ set pcolor black ] ask patch -4 8 [ set pcolor black ] ask patch -3 8 [ set pcolor black ] ask patch -2 8 [ set pcolor black ] ask patch -1 8 [ set pcolor black ] ask patch 8 8 [ set pcolor black ] ask patch 9 8 [ set pcolor black ] ask patch -5 7 [ set pcolor black ] ask patch -4 7 [ set pcolor black ] ask patch -3 7 [ set pcolor black ] ask patch -2 7 [ set pcolor black ] ask patch -1 7 [ set pcolor black ] ask patch 8 7 [ set pcolor black ] ask patch 9 7 [ set pcolor black ] ask patch -3 6 [ set pcolor black ] ask patch 8 6 [ set pcolor black ] ask patch 9 6 [ set pcolor black ] ask patch -3 5 [ set pcolor black ] ask patch 8 5 [ set pcolor black ] ask patch 9 5 [ set pcolor black ] ask patch 10 5 [ set pcolor black ] ask patch 11 5 [ set pcolor black ] ask patch -16 4 [ set pcolor black ] ask patch -15 4 [ set pcolor black ] ask patch -14 4 [ set pcolor black ] ask patch -13 4 [ set pcolor black ] ask patch -12 4 [ set pcolor black ] ask patch -11 4 [ set pcolor black ] ask patch -10 4 [ set pcolor black ] ask patch -9 4 [ set pcolor black ] ask patch -3 4 [ set pcolor black ] ask patch 8 4 [ set pcolor black ] ask patch 9 4 [ set pcolor black ] ask patch 10 4 [ set pcolor black ] ask patch 11 4 [ set pcolor black ] ask patch -16 3 [ set pcolor black ] ask patch -15 3 [ set pcolor black ] ask patch -14 3 [ set pcolor black ] ask patch -13 3 [ set pcolor black ] ask patch -12 3 [ set pcolor black ] ask patch -11 3 [ set pcolor black ] ask patch -10 3 [ set pcolor black ] ask patch -9 3 [ set pcolor black ] ask patch -10 2 [ set pcolor black ] ask patch -9 2 [ set pcolor black ] ask patch 8 2 [ set pcolor black ] ask patch 9 2 [ set pcolor black ] ask patch 10 2 [ set pcolor black ] ask patch 11 2 [ set pcolor black ] ask patch -10 1 [ set pcolor black ] ask patch -9 1 [ set pcolor black ] ask patch 8 1 [ set pcolor black ] ask patch 9 1 [ set pcolor black ] ask patch 10 1 [ set pcolor black ] ask patch 11 1 [ set pcolor black ] ask patch -10 0 [ set pcolor black ] ask patch -9 0 [ set pcolor black ] ask patch 8 0 [ set pcolor black ] ask patch 9 0 [ set pcolor black ] ask patch 10 0 [ set pcolor black ] ask patch 11 0 [ set pcolor black ] ask patch -10 -1 [ set pcolor black ] ask patch -9 -1 [ set pcolor black ] ask patch 8 -1 [ set pcolor black ] ask patch 9 -1 [ set pcolor black ] ask patch 10 -1 [ set pcolor black ] ask patch 11 -1 [ set pcolor black ] ask patch 12 -1 [ set pcolor black ] ask patch 13 -1 [ set pcolor black ] ask patch 14 -1 [ set pcolor black ] ask patch 15 -1 [ set pcolor black ] ask patch -1 -2 [ set pcolor black ] ask patch 0 -2 [ set pcolor black ] ask patch 1 -2 [ set pcolor black ] ask patch 11 -2 [ set pcolor black ] ask patch 12 -2 [ set pcolor black ] ask patch 13 -2 [ set pcolor black ] ask patch 14 -2 [ set pcolor black ] ask patch 15 -2 [ set pcolor black ] ask patch -1 -3 [ set pcolor black ] ask patch 0 -3 [ set pcolor black ] ask patch 1 -3 [ set pcolor black ] ask patch 2 -3 [ set pcolor black ] ask patch 3 -3 [ set pcolor black ] ask patch -1 -4 [ set pcolor black ] ask patch 0 -4 [ set pcolor black ] ask patch 1 -4 [ set pcolor black ] ask patch 2 -4 [ set pcolor black ] ask patch 3 -4 [ set pcolor black ] ask patch 2 -5 [ set pcolor black ] ask patch 3 -5 [ set pcolor black ] ask patch 1 -6 [ set pcolor black ] ask patch 2 -6 [ set pcolor black ] ask patch 3 -6 [ set pcolor black ] ask patch -14 -7 [ set pcolor black ] ask patch -13 -7 [ set pcolor black ] ask patch -12 -7 [ set pcolor black ] ask patch -11 -7 [ set pcolor black ] ask patch -10 -7 [ set pcolor black ] ask patch -9 -7 [ set pcolor black ] ask patch -8 -7 [ set pcolor black ] ask patch -7 -7 [ set pcolor black ] ;set pcolor-of patch -6 -7 [ set pcolor black ] ask patch -5 -7 [ set pcolor black ] ask patch 1 -7 [ set pcolor black ] ask patch 2 -7 [ set pcolor black ] ask patch 3 -7 [ set pcolor black ] ask patch 9 -7 [ set pcolor black ] ask patch 10 -7 [ set pcolor black ] ask patch 11 -7 [ set pcolor black ] ask patch -14 -8 [ set pcolor black ] ask patch -10 -8 [ set pcolor black ] ask patch -5 -8 [ set pcolor black ] ask patch 9 -8 [ set pcolor black ] ask patch 10 -8 [ set pcolor black ] ask patch 11 -8 [ set pcolor black ] ask patch -14 -9 [ set pcolor black ] ask patch -10 -9 [ set pcolor black ] ask patch -6 -9 [ set pcolor black ] ask patch -5 -9 [ set pcolor black ] ask patch 9 -9 [ set pcolor black ] ask patch 10 -9 [ set pcolor black ] ask patch 11 -9 [ set pcolor black ] ask patch -14 -10 [ set pcolor black ] ask patch -12 -10 [ set pcolor black ] ask patch -5 -10 [ set pcolor black ] ask patch 9 -10 [ set pcolor black ] ask patch 10 -10 [ set pcolor black ] ask patch 11 -10 [ set pcolor black ] ask patch 12 -10 [ set pcolor black ] ask patch 13 -10 [ set pcolor black ] ask patch -14 -11 [ set pcolor black ] ask patch -13 -11 [ set pcolor black ] ask patch -12 -11 [ set pcolor black ] ask patch -9 -11 [ set pcolor black ] ask patch -8 -11 [ set pcolor black ] ask patch -7 -11 [ set pcolor black ] ask patch -6 -11 [ set pcolor black ] ask patch -5 -11 [ set pcolor black ] ask patch 9 -11 [ set pcolor black ] ask patch 10 -11 [ set pcolor black ] ask patch 11 -11 [ set pcolor black ] ask patch 12 -11 [ set pcolor black ] ask patch 13 -11 [ set pcolor black ] ask patch -9 -12 [ set pcolor black ] ask patch -5 -12 [ set pcolor black ] ask patch -14 -13 [ set pcolor black ] ask patch -11 -13 [ set pcolor black ] ask patch -7 -13 [ set pcolor black ] ask patch -5 -13 [ set pcolor black ] ask patch -14 -14 [ set pcolor black ] ask patch -13 -14 [ set pcolor black ] ask patch -12 -14 [ set pcolor black ] ask patch -11 -14 [ set pcolor black ] ask patch -10 -14 [ set pcolor black ] ask patch -9 -14 [ set pcolor black ] ask patch -8 -14 [ set pcolor black ] ask patch -7 -14 [ set pcolor black ] ask patch -6 -14 [ set pcolor black ] ask patch -5 -14 [ set pcolor black ] end to map4 boundries ask patch -2 -2 [ set pcolor black ] ask patch -2 -1 [ set pcolor black ] ask patch -2 0 [ set pcolor black ] ask patch -2 1 [ set pcolor black ] ask patch -2 2 [ set pcolor black ] ask patch 2 -2 [ set pcolor black ] ask patch 2 -1 [ set pcolor black ] ask patch 2 0 [ set pcolor black ] ask patch 2 1 [ set pcolor black ] ask patch 2 2 [ set pcolor black ] ask patch -2 -2 [ set pcolor black ] ask patch -1 -2 [ set pcolor black ] ask patch -0 -2 [ set pcolor black ] ask patch 1 -2 [ set pcolor black ] ask patch 2 -2 [ set pcolor black ] ask patch -2 2 [ set pcolor black ] ask patch -1 2 [ set pcolor black ] ask patch 0 2 [ set pcolor black ] ask patch 1 2 [ set pcolor black ] ask patch 2 2 [ set pcolor black ] end to clear ; Clears the model. clear-all ;; (for this model to work with NetLogo's new plotting features, ;; __clear-all-and-reset-ticks should be replaced with clear-all at ;; the beginning of your setup procedure and reset-ticks at the end ;; of the procedure.) set col_cnt 0 end @#$#@#$#@ GRAPHICS-WINDOW 261 10 689 439 -1 -1 12.0 1 10 1 1 1 0 0 0 1 -17 17 -17 17 0 0 1 ticks 30.0 BUTTON 12 11 85 44 setup setup NIL 1 T OBSERVER NIL NIL NIL NIL 1 CHOOSER 12 106 150 151 maps maps "map 1" "map 2" "map 3" "map 4" "map 5" 2 BUTTON 100 11 163 44 go go T 1 T OBSERVER NIL NIL NIL NIL 1 BUTTON 13 60 80 93 clear clear NIL 1 T OBSERVER NIL NIL NIL NIL 1 SWITCH 99 59 224 92 pass_info pass_info 1 1 -1000 SLIDER 12 161 184 194 rob_num rob_num 1 100 100.0 1 1 NIL HORIZONTAL SLIDER 12 203 184 236 err err 0 0.25 0.033 0.0010 1 NIL HORIZONTAL PLOT 14 258 214 408 map NIL NIL -25.0 25.0 -25.0 25.0 false false "" "" PENS "default" 1.0 2 -16777216 true "" "plot count turtles" SLIDER 718 18 890 51 max_vel max_vel 0 5 0.5 0.1 1 NIL HORIZONTAL SLIDER 719 63 891 96 wheel_dist wheel_dist 0.01 1 1.0 0.1 1 NIL HORIZONTAL MONITOR 925 23 1054 68 collisions number col_cnt 5 1 11 SLIDER 720 109 892 142 acceleration acceleration 0 1 1.0 0.01 1 NIL HORIZONTAL PLOT 723 164 923 314 Average distance error NIL NIL 0.0 10.0 0.0 10.0 true false "" "" PENS "default" 1.0 0 -16777216 true "" "plot count turtles" PLOT 725 328 925 478 Minimal distance error NIL NIL 0.0 10.0 0.0 10.0 true false "" "" PENS "default" 1.0 0 -16777216 true "" "plot count turtles" @#$#@#$#@ WHAT IS IT? ----------- This program is a simulation of robots mapping an unknown area using odometry. Each robot starts from the center, set as the origin. Then the robots scatter in the following random walk model. They walk farward with random speed and then turn with randon speed repeatedly. The robots calculate their position using odometers. An error is added to the measurments of the odometers. Once a robot collides a wall it reports it to the map drawn. Also, when robots meet they pass information (if allowed by the user) in order to average the error. HOW TO USE IT ------------- SETUP sets up the model according to the values indicated by all the sliders and the switch and chooser. GO is a forever button that executes the model continually. CLEAR clears the model. MAPS allows the user to choose the area the robots will try to map. PASS_INFO allows the user to determine whether the robots pass information or not. ROB_NUM allows the user to set the number of robots trying to map the area. ERR allows the user to set the ammount of the error of the odometers. MAX_VEL allow the user to set the maximum velocity the wheels of the robots may turn. WHEEL_DIST allows the user to set the distance between the robots' wheels ACCELERATION allows the user to set the maximum change of velocity the wheels of the robots can have per turn. This model has been constructed so that all changes in the sliders,switches and chooser, save MAPS and ROB_NUM, will take effect in the model during execution. So, while the GO button is still down, you can change the values of the sliders and the switch, and you can see these changes being represented on the graphics window. THINGS TO NOTICE ---------------- Observe the average distance error plot. It show the aveargw error that the robots have. Notice the value when executing the simulation with or without the robots passing information. Also, observe the improment in the map plot. Furthermore, it is interesting to view the results of the maps and the error plots with different error values. EXTENDING THE MODEL ------------------- It is easy extending the model by adding new areas for the robots to explore. Also, new models of movement and error calculation can be implemented in order to view their effect on the results. CREDITS AND REFERENCES ---------------------- Written by Ken Fox & Tomer Altman. Isreal Institute of Technology, Computer Sience Department, Intelligent Systems Laboratoy, Multi-Agent Robotics. For more information about this simulation and the project behind it refer to the mapping project at the CS@Technion [MARS](https://mars.cs.technion.ac.il/projects/?pr=2#emlft) lab. @#$#@#$#@ default true 0 Polygon -7500403 true true 150 5 40 250 150 205 260 250 airplane true 0 Polygon -7500403 true true 150 0 135 15 120 60 120 105 15 165 15 195 120 180 135 240 105 270 120 285 150 270 180 285 210 270 165 240 180 180 285 195 285 165 180 105 180 60 165 15 arrow true 0 Polygon -7500403 true true 150 0 0 150 105 150 105 293 195 293 195 150 300 150 box false 0 Polygon -7500403 true true 150 285 285 225 285 75 150 135 Polygon -7500403 true true 150 135 15 75 150 15 285 75 Polygon -7500403 true true 15 75 15 225 150 285 150 135 Line -16777216 false 150 285 150 135 Line -16777216 false 150 135 15 75 Line -16777216 false 150 135 285 75 bug true 0 Circle -7500403 true true 96 182 108 Circle -7500403 true true 110 127 80 Circle -7500403 true true 110 75 80 Line -7500403 true 150 100 80 30 Line -7500403 true 150 100 220 30 butterfly true 0 Polygon -7500403 true true 150 165 209 199 225 225 225 255 195 270 165 255 150 240 Polygon -7500403 true true 150 165 89 198 75 225 75 255 105 270 135 255 150 240 Polygon -7500403 true true 139 148 100 105 55 90 25 90 10 105 10 135 25 180 40 195 85 194 139 163 Polygon -7500403 true true 162 150 200 105 245 90 275 90 290 105 290 135 275 180 260 195 215 195 162 165 Polygon -16777216 true false 150 255 135 225 120 150 135 120 150 105 165 120 180 150 165 225 Circle -16777216 true false 135 90 30 Line -16777216 false 150 105 195 60 Line -16777216 false 150 105 105 60 car false 0 Polygon -7500403 true true 300 180 279 164 261 144 240 135 226 132 213 106 203 84 185 63 159 50 135 50 75 60 0 150 0 165 0 225 300 225 300 180 Circle -16777216 true false 180 180 90 Circle -16777216 true false 30 180 90 Polygon -16777216 true false 162 80 132 78 134 135 209 135 194 105 189 96 180 89 Circle -7500403 true true 47 195 58 Circle -7500403 true true 195 195 58 circle false 0 Circle -7500403 true true 30 30 240 circle 2 false 0 Circle -7500403 true true 16 16 270 Circle -16777216 true false 46 46 210 cow false 0 Polygon -7500403 true true 200 193 197 249 179 249 177 196 166 187 140 189 93 191 78 179 72 211 49 209 48 181 37 149 25 120 25 89 45 72 103 84 179 75 198 76 252 64 272 81 293 103 285 121 255 121 242 118 224 167 Polygon -7500403 true true 73 210 86 251 62 249 48 208 Polygon -7500403 true true 25 114 16 195 9 204 23 213 25 200 39 123 face happy false 0 Circle -7500403 true true 8 8 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Polygon -16777216 true false 150 255 90 239 62 213 47 191 67 179 90 203 109 218 150 225 192 218 210 203 227 181 251 194 236 217 212 240 face neutral false 0 Circle -7500403 true true 8 7 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Rectangle -16777216 true false 60 195 240 225 face sad false 0 Circle -7500403 true true 8 8 285 Circle -16777216 true 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0 Polygon -7500403 true true 270 75 225 30 30 225 75 270 Polygon -7500403 true true 30 75 75 30 270 225 225 270 @#$#@#$#@ NetLogo 6.0.4 @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ default 0.0 -0.2 0 0.0 1.0 0.0 1 1.0 0.0 0.2 0 0.0 1.0 link direction true 0 Line -7500403 true 150 150 90 180 Line -7500403 true 150 150 210 180 @#$#@#$#@ 0 @#$#@#$#@