CS 470  Artificial Intelligence  

Winter 2003,  Instructor:  Jeffrey Horn                                                                NAME:  _______________________

HOMEWORK 2:  Stimulus-Response (S-R) versus Finite State Machines
 
Handed out/Assigned: Tuesday, March 11, 2003
Due: Tuesday, March 18, 2003


VEHICLE:     

We have two binary outputs, one for each motor.  LM is left motor, RM is right.  A "0" output means no power to the motor, while a "1" means go forward.  (so an output of 01, which is 0 to the left and 1 to the right motor, would result in an arcing turn to the left, while 10 would be a right turn)

Let there be two input bits from the left and right sensors pictured (LS and RS):   a "01" input vector (left sensor, right sensor) would mean something detected to the right, but nothing center or left, while "11" would mean something in the center (or something left and right!).  Also assume a finite detector range, defined by an arc (not shown above) with its center at the robot's center. 

Let there be a third sensor, "GO",  (not shown) which indicates whether the object detected (if any!) is a Goal or an Obstacle (hence the name GO).  Let us say you are seeking light sources, but avoiding obstacles, and you have these two combo detectors, LS and RS, that can detect both obstacles and light sources (if a detector detects both, it will register only the closest, so note that ONLY ONE OBJECT WILL BE DETECTED AT ANY ONE TIME!).  The detectors will use the GO bit to indicate whether the nearest detected object is a light source (GO == "1") or an obstacle (GO == ")").  Note that if no obstacle is detected, then the value of GO is meaningless.