This project involves implementing a subsumption architecture for a footbot robot to combine multiple behaviors: phototaxy, obstacle-avoidance, and wander. The robot navigates towards a light source while avoiding collisions with obstacles.
- Phototaxy: Highest priority; avoids collisions using proximity sensors.
- Obstacle Avoidance: Medium priority; moves towards the light source using light sensors.
- Wander: Lowest priority; executes when no light or obstacles are detected.
- Time to Reach the Light: The time taken for the robot to reach the light source.
- Frequency of Reaching the Light: How often the robot successfully reaches the light source within the simulation duration.
- Final Distance to the Light: The distance between the robot and the light source at the end of the simulation.