Vacuum cleaner first version

 

    In this first version the robot starts in an initial spiral state until it bumps into something, then it goes backwards and turns a fixed angle. In the next state it advaces until a number of iterations have passed, so it is suposed to have moved away from the wall or object which bumped into the first time, and changes back to the spiral state.
 
      
    I think it is not a bad first approach to solve the exercise. But there are some problems with the bumper, mainly the fact that it does not work very good when the vaccum collides with something so it gets stuck very often hitting again and again the same wall or object as shown in the video:
 
 
    
    To solve this in the next version the laser sensor will be used.



 

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