Project - Robotics Programming (Partial Exam 3)

This repository contains the implementation of the Third Partial Exam for the Robotics Programming course using Webots.

Description

The project implements the "Blind Maze" scenario in Webots:

• The robot cannot rely on visual input.
• The robot is an e-puck
• Instead, it must use its proximity sensors to navigate and avoid collisions.
• The navigation is based on the Right-Hand Rule:
    The robot will always follow the nearest wall on its right-hand side, regardless of the number of turns, until it finds the exit.
• When the robot reaches the goal coordinates it stops.

Controller

The robot controller implements the following logic:

• Continuously reads **proximity sensors**.
• Identifies the right wall and moves alongside it.
• If there is an opening on the right, the robot will turn right.
• If the right side is blocked, the robot will keep moving forward.
• If both front and right are blocked, the robot will turn left.
• The goal is to **exit the maze** autonomously

The controller code is fully documented:

• Each variable and function is explained.
• Sections of code that were adapted from examples are clearly indicated.

Repository Structure

• worlds/Parcial3.wbt → Maze world with sand floor and brick walls.
• controllers/right_hand_rule/right_hand_rule.cpp → Robot controller (with comments).
• worlds/textures/ → Textures for floor and walls.

How to Run

1. Open the project in Webots.
2. Load the world Parcial3.wbt.
3. Run the controller right\_hand\_controller.py (Remove intermediate build files and build the current project).
4. Observe how the robot follows the right-hand rule until it exits the maze.

Demo Video

The simulation video can be found at the following link:

* https://youtu.be/fnaHWV5M-4s *

✍️ **Author:** * Patricia Sarahi Jimenez-Leura *

📅 **Due date:** May 27, 2025