Research Article
Efficient Active Sensing with Categorized Further Explorations for a Home Behavior-Monitoring Robot
Pseudocode 2: Change_Viewpoint.
| Codes | | Begin_Change_Viewpoint | | Angle = AngleRobot[t] | | If iRotate > ConstMax_rotation | | iRotate = 0 | | Goto Begin_Normal_Mode_Monitoring | | If iRotate | 2 = 0 | | Angle = Angle + ConstAngle∗iRotate | | Else | | Angle = Angle-ConstAngle∗iRotate | | AngleRobot[t] = rotateRobot(Angle) | | If Angle = AngleRobot[t] | | Goto Begin_Normal_Mode_Monitoring | | End_Change_Viewpoint | | | Explanation of parameters and functions | | AngleRobot[t]: angle in the world coordinates at t | | iRotate: a variable for calculating rotation angle | | ConstMax_rotation: a constant denoting maximal number of rotation steps | | ConstAngle: a constant denoting angles for each rotation step | | Functions called | | rotateRobot(): rotate to a specified objective angle |
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Pseudocode 2: Change_Viewpoint. |
