#2835 Webots Script for Robotic Vehicle to Follow Sidelines and Yardline Stripes of a Football Field

#2835 Webots Script for Robotic Vehicle to Follow Sidelines and Yardline Stripes of a Football Field

#2835 Provide a Webots simulation script for a simple 4-wheel robotic vehicle to follow the sidelines and yardline stripes, criss-crossing the entire length of a football field at walking speed

Below is a Python Webots simulation script for a simple 4-wheel robotic vehicle that follows the sidelines and yardline stripes of a football field at walking speed. This script uses Webots’ Python API to implement a basic behavior for following lines detected by the robot's sensors.

Football Field Robot

from controller import Robot, Motor, DistanceSensor

# Create the Robot instance

robot = Robot()

# Constants

TIME_STEP = 32  # Simulation time step in milliseconds

WALKING_SPEED = 3.5  # Approximate walking speed in m/s

# Initialize motors

left_motor = robot.getDevice('left_motor')

right_motor = robot.getDevice('right_motor')

left_motor.setPosition(float('inf'))

right_motor.setPosition(float('inf'))

left_motor.setVelocity(0)

right_motor.setVelocity(0)

# Initialize sensors (assuming the robot has 3 IR sensors: left, center, right)

left_sensor = robot.getDevice('left_sensor')

center_sensor = robot.getDevice('center_sensor')

right_sensor = robot.getDevice('right_sensor')

left_sensor.enable(TIME_STEP)

center_sensor.enable(TIME_STEP)

right_sensor.enable(TIME_STEP)

# Function to set motor speeds

def set_motor_speeds(left_speed, right_speed):

    left_motor.setVelocity(left_speed)

    right_motor.setVelocity(right_speed)

# Line-following logic

def follow_line():

    left_value = left_sensor.getValue()

    center_value = center_sensor.getValue()

    right_value = right_sensor.getValue()

    # Threshold to detect lines

    THRESHOLD = 500  # Adjust based on your robot and field

    if center_value < THRESHOLD:  # Center sensor detects line

        set_motor_speeds(WALKING_SPEED, WALKING_SPEED)

    elif left_value < THRESHOLD:  # Left sensor detects line

        set_motor_speeds(WALKING_SPEED * 0.5, WALKING_SPEED)

    elif right_value < THRESHOLD:  # Right sensor detects line

        set_motor_speeds(WALKING_SPEED, WALKING_SPEED * 0.5)

    else:  # No line detected

        set_motor_speeds(WALKING_SPEED * 0.5, WALKING_SPEED * 0.5)  # Slow forward

# Main loop

while robot.step(TIME_STEP) != -1:

    follow_line()

# Cleanup (not reached in Webots but good practice)

left_motor.setVelocity(0)

right_motor.setVelocity(0)

Instructions:

1. Configure the Robot: Ensure your robot in Webots has two motor devices named left_motor and right_motor, and three distance sensors named left_sensor, center_sensor, and right_sensor. Adjust the names if necessary.
2. Line Threshold: The THRESHOLD value may need to be adjusted based on your robot's sensors and the lighting conditions in the simulation.
3. Field Setup: Design a football field in Webots with clear sidelines and yardlines for the robot to follow. The lines should have a color contrast detectable by the robot's IR sensors.
4. Walking Speed: Modify the WALKING_SPEED variable if needed to fine-tune the speed to mimic walking pace.

Run the simulation in Webots, and the robot should criss-cross the football field by following the sidelines and yardlines.

From <https://chatgpt.com/>