The above figure illustrates when the lake is detected on the camera. The lake relative coordinate is determined by Matlab on earth computer and this information is sent to the RCX on the robot. Using this information, the robot can be driven towards the lake for performing the temperature measurement. The algorithm for this is illustarted in the following steps:
1. When the lake is detected on the camera, suppose with coordinate (i1,j1), stop the robot from the previous mars exploration routine (roaming).
2. Turn the robot either to left or right according to (i1,j1) position with respect to the reference “band”, and drive forward the robot.
3. When the lake coordinate is within the reference band, drive the robot straight, and also turn left or right to keep the lake coordinate within the band until the middle light sensor of the robot senses the lake.
4. Perform temperature measurement.
Tags: Lake Approaching, Mars Mission
