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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.

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