KERL Traffic Simulation (Working version)

Robotic "cars" travel around a figure 8 map avoiding the walls.

This is a simple demo (with room for improvement) which shows the robots being controlled by Erlang and KERL (Kent Erlang Robotic Library). Player/Stage is being used for the simulation shown in the video. The robots sense a beacon and query its state (either red or green) and stop when the state is red. Basically simulating a traffic light system.

I am using laser sensors to detect walls for collision avoidance. I get the bearing of the closest sensed obstacle and use it to determine which way to rotate. I rotate the robot until no walls the way is clear.

Using a fiducial sensor I can detect robots in front. This allows the robot to not think other robots are walls and simply stop behind it if the robot in front is not moving.

The fiducial sensor is also used to sense nearby beacons. I get the id value of this beacon and query a server that will return if it is in a red or green state.

The robot control code is running in Erlang, each robot controlled concurrently by its own process. The code running this shown below:

http://kerl.svn.sourceforge.net/viewvc/kerl/trunk/examples/traffic/traffic2.e...
http://kerl.sf.net for more details on this project.

Category:

Science & Technology

Tags:

• erlang
• player/stage
• simulation