PART A: OSV LOGIC

1. Before you start to write code for your OSV, it will be very important to develop an appropriate flow chart / logic structure. For this question, assume that the OSV has a single sensor located at the front of the vehicle that can accurately detect obstacles, including the walls of the course.

1. Given that the OSV is originally oriented as indicated by the blue arrow above, use the provided flowchart to describe the OSVs motion path in detail. Would the OSV be able to successfully to navigate to the mission site?

2. Consider the command box labeled Move Forward.

   1. Explain why this command is not specific enough.

   2. Considering that batteries tend to output lower voltages as they discharge (e.g. 9 V when fully charged vs. ~7 V when less charged), is it better to use time based commands or distance based commands to move the OSV? Briefly explain your reasoning.

3. Consider the command box labeled Turn Left 90.

   1. Explain why this this command is not appropriate in all situations.

The flow chart shown above currently has two decision boxes that are used to check conditions and then make decisions.

4. While you would likely need to make several changes to improve this flow chart

   1. Identify at least one more decision box that you would add to this flowchart to help make the OSVs decision making more robust. Indicate where you think your decision box/es should be nested in the logic structure.

*Note: You do not need to develop a new flow chart, just suggest what additional decision box/es could help make the OSVs decision making better!

Start Mission + /2 0 - Move Forward True False Obstacle? Obstacle 2 Obstacle 3 2.0 Turn Left 90 True False Mission Site (e.g., fire) Mission Site? Obstacle 1 Complete Mission 0.650.6> 4.0 Mission Site? Obstacle