Question

In Python, Define an object-oriented class to represent a Sensorless Wheeled Robot, including:

(a) class data variables to store the robot’s x and y position.

(b) A class function or functions to move the robot by one distance unit in either positive or negative x, or positive or negative y dimensions. Include printed, informative output of each move and the resulting robot position

(c) A class function to navigate to the destination location by calling the class move functions (described above) • The destination object is passed in as a parameter to this function. • The obstacle position is also passed as a parameter to the function. • Reaching the destination does not require that the robot is rotated to ’face’ the destination in this model

Answer 1

class Sensorless_Wheeled_Robot:
  
    def __init__(self, orig_x=0, orig_y=0):
        self.orig_x,self.orig_y=orig_x,orig_y
  
  
    def move_robot_by_unit_distance(self,x=0,y=0):
        if -1<=x<=1 and y==0: # ONLY PASS X AND Y AS -1,0,1. SO THAT ROBOT MOVES BY UNIT DISTANCE ONLY.
            self.orig_x+=x
        if x==0 and -1<=y<=1:
            self.orig_y+=y
        print("position of robot is: ",self.orig_x,self.orig_y)
        return (self.orig_x,self.orig_y)
  
  
    def move_to_destination(self,des,obs): # des is the list containing positions of destination .
        print("moving towards x")             # obs is the list containing positions of obstackle

        if des[0]<0:
            while(des[0]<self.orig_x ):
                if (self.orig_x-1)==obs[0] and (self.orig_y)==obs[1]:
                    print("obstacle is detectedat :",obs[0],obs[1])
                  
    # if obstacle position is found right ahead of robot then robot will go sideways avoiding the obstacle.
                    self.move_robot_by_unit_distance(0,1)             
                    self.move_robot_by_unit_distance(-1,0)                
                    self.move_robot_by_unit_distance(-1,0)                
                    self.move_robot_by_unit_distance(0,-1)

                else:self.move_robot_by_unit_distance(-1,0)
              
        if des[0]>0:
            while(des[0]>self.orig_x):
                if (self.orig_x+1)==obs[0] and (self.orig_y)==obs[1]:
                    print("obstacle is detectedat :",obs[0],obs[1])
                  
                    self.move_robot_by_unit_distance(0,1)
                    self.move_robot_by_unit_distance(1,0)                
                    self.self.move_robot_by_unit_distance(1,0)                
                    self.move_robot_by_unit_distance(0,-1)

                else: self.move_robot_by_unit_distance(1,0)
             
              
        if des[1]<0:
            while(des[1]<self.orig_y):
              
                if (self.orig_x)==obs[0] and (self.orig_y-1)==obs[1]:
                    print("obstacle is detected at :",obs[0],obs[1])
                    self.move_robot_by_unit_distance(1,0)
                    self.move_robot_by_unit_distance(0,-1)                
                    self.move_robot_by_unit_distance(0,-1)                
                    self.move_robot_by_unit_distance(-1,0)

                else:self.move_robot_by_unit_distance(0,-1)
              
        if des[1]>0:
          
            while(des[1]>self.orig_y):
              
              
                if ((self.orig_x)==obs[0] and (self.orig_y+1)==obs[1]):
                    print("obstacle is detected at ",obs[0],obs[1])
                  
                    self.move_robot_by_unit_distance(1,0)
                    self.move_robot_by_unit_distance(0,1)                
                    self.move_robot_by_unit_distance(0,1)                
                    self.move_robot_by_unit_distance(-1,0)
                  
                else:self.move_robot_by_unit_distance(0,1)
        print("final position of robot is: ",self.orig_x,self.orig_y)
        return (self.orig_x,self.orig_y)

      
       run the given code . there mignt be some little changes in the comments and print statement as I took screenshot then made some little changes for the better understanding of code.If some problem occurs then don't panic, just contact on the comment section . I will resolve the problem.