Basic obstacle avoidance

Obstacle avoidance is a stand-alone functionality on the Alset Vehicle (Arduino board). Obstacles are avoided by reading the front and back sensors of the vehicle.

Functional Requirements

• The car must be able to avoid objects detected by its sensors.
• The car must be able to travel an arbitrary distance while avoiding objects.

Below is the implementation used to test the cars ability to avoid obstacles, running until it reaches a distance of 100m:

const auto STOPPING_DISTANCE = 100;

void avoidObstacle() 
{
    unsigned int forwardDistance = frontUSSensor.getDistance();
    unsigned int reverseDistance = backIRSensor.getDistance();

    bool frontStop = forwardDistance != 0 && forwardDistance < STOPPING_DISTANCE;
    bool backStop = reverseDistance != 0 && reverseDistance < STOPPING_DISTANCE;

    car.setSpeed((frontStop || backStop) ? 0 : DEFAULT_DRIVING_SPEED);
}