So how all does this work?
Well, you saw in the previous slides that I got a really good
estimate of, of, of the, of the, of a section of the wall.
But that's not always the case.
So, for example here on the inside corner, what I have here is
this is the robot's estimate of, of the, of the wall.
And you can see that this is an overestimate.
So, we're actually okay with that, because if
we're overestimating the wall, that's, you know, that's
not really problematic because we're not going to.
We're going to avoid this, this virtual piece of
the wall and we're not going to slam into it.
There's no danger of, real danger of that. But that is on, these inside corners.
On the outside corners we are underestimating the wall.
So you can see here that the robot thinks that this represents.
Is it
a good representation of the wall?
And if we cut this corner too closely the robot collide with this
part of the obstacle that it doesn't really sense because there's a little
bit of spread between the sensors because we don't have, you know, 20,
20 sensors on the robot that cover every single inch outside the robot.
We only have five sensors, so we got to make,
deal with what we have, so here we have to
be a little careful, and that's where the design of this distance, d
sub fw comes into play. So, you want to make sure that this, this,
value is large enough to allow us to not cut corners and collide with the wall.
But also not too large so, so that we don't lose track
of the wall, because we don't want to end up too far away
from the wall and then the robot doesn't sense
the wall anymore and we can no longer follow it.
So, we want to kind of stick to the wall as
close as possible, but not too close to collide.