hw
MCB 419 - HW08 - Finite State Machine
due Tue Mar 12, 2019, 9:00 PM
email p5js project link to mcb419@gmail.com
Introduction
This assignment combines elements of action selection, finite-state machines (FSM), and area-restricted search (ARS) behavior. The goal is to develop a controller that collects as much energy as possible (100 max) in a fixed time period (2000 ticks). You will use an FSM controller to select among different stand-alone action patterns (behaviors) to achieve the desired performance.
Scenario Description
Pellets
green pellets - randomly distributed; can be detected at a distance; worth 1 point each; 20 pellets = 20 points
invisible pellets - clustered; can only be detected by running into them; worth 5 points each; 16 pellets = 80 points
Bot sensory inputs
bot.sns.left, bot.sns.right - intensity of green pellet scent (Braitenberg-style);
bot.sns.collision - true when the bot hits a boundary; false otherwise
bot.sns.deltaEnergy - energy gained on previous time step (+1 for green pellets, +5 for invisible pellets, 0 otherwise)
Bot motor outputs
bot.mtr.left, bot.mtr.right - motor velocity (Braitenberg-style)
Sample controllers
aggressive - a Braitenberg crossed-excitation wiring pattern
spiral - a sample spiral (non-optimal)
wander - random wandering
fsm1 - a finite-state machine that ‘wanders’ by default and ‘spins’ when it hits a boundary
fsm2 - you will use this slot to implement your own controller
Instructions
- duplicate the HW08 template file
- follow instructions and answer the questions in the index.html file
- save and submit your project to mcb419@gmail.com with subject: HW08