I have a task of developing a simulation of an adaptive robot control system but I don't seem too have anyone to discuss my uncertainties with. I want to keep the simulation as simple as possible as I have a very tight deadline and it's only a one off project that most probably will never be used in my life again.
The minimal behaviour that the agent is supposed to exhibit is wall and obstacle avoidance. It can be extended to avoiding small objects and exploring large ones.
I've decided to go with a simple feedback control system. To begin with I'm struggling to decide how to represent the map of agent's environment. What I mean is, what if I want a wall to be from coordinate [0,0] to [0.5]. I could hard code it, e.g. have a matrix with coordinates of all obstacles but how small units do I make... I.e. what if I have two neighbouring coordinates [0,0.01] and [0,0.02] but the agents gets a 'clear to go' to coordinate [0,0.05]. In this case it doesn't know that it actually is about to walk into a wall. I've heard of something called occupancy grid map but I don't exactly get how it works and how to implement it.
Another thing that I am struggling with is how do I distinct between a wall and an obstacle? And then, how do I let the agent know how big that obstacle is so that it can either avoid it or explore it.
Eh, I'm really puzzled with this project. I would really appreciate any thoughts or directions. Thank you. :-)