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Optional Programming Assignment 3o

The document provides instructions for optional programming assignment 3 which involves programming a robot to navigate to waypoints. It outlines four components that must be implemented: 1) calculate the angle to the goal, 2) calculate the error between the current and goal headings, 3) calculate the PID terms to steer the robot, and 4) ensure the angular velocity is achieved even if the commanded velocities exceed motor limits. It describes what the automatic grader will test - if the robot reaches the goal, if the PID gains are properly tuned, and if velocities are reshaped for the hardware. Students are instructed to download the necessary files and read the manual section for details to complete the assignment.

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7 views

Optional Programming Assignment 3o

The document provides instructions for optional programming assignment 3 which involves programming a robot to navigate to waypoints. It outlines four components that must be implemented: 1) calculate the angle to the goal, 2) calculate the error between the current and goal headings, 3) calculate the PID terms to steer the robot, and 4) ensure the angular velocity is achieved even if the commanded velocities exceed motor limits. It describes what the automatic grader will test - if the robot reaches the goal, if the PID gains are properly tuned, and if velocities are reshaped for the hardware. Students are instructed to download the necessary files and read the manual section for details to complete the assignment.

Uploaded by

jcvoscrib
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Optional Programming Assignment 3: Instructions

Help

Start by downloading the robot simulator and update manual for this week:
1. simiam-coursera-week-3.zip (Updated: 2014-01-31)
2. manual-coursera-sp14.pdf (Updated: 2014-02-02)

Instructions
Before you can drive to robot to different waypoints in the simulator, you will need to implement three
components of the go-to-goal behavior:
1. Calculate the heading (angle), g , to the goal location

(xg , y g ) .

robot located at (x, y) to the goal located at (xg , y g ), then

Let u be the vector from the

is the angle

makes with the

x-

axis (positive g is in the counterclockwise direction).


2. Calculate the error between g and the current heading of the robot, .
3. Calculate the proportional, integral, and derivative terms for the PID regulator that steers the robot
to the goal.
4. Also, ensure that the robot steers with an angular velocity , even if the combination of v and
exceeds the maximum angular velocity of the robot's motors.
Remember to read the section for Week 3 in the manual for details that will help you
complete this assignment!

Submission
This week's automatic grader will test:
1. Arriving at the goal location: Does the robot reach the goal location (within 5cm of the location)?
2. Tuning the PID gains for performance: Are the PID gains tuned such that the settle time is less
than three second and the overshoot is no greater than 10% of the reference signal (angle to the
goal location)?
3. Reshaping the output for the hardware: If the output of the controller (v, ) is greater than what
the motors support, is the linear velocity v scaled back to ensure

is achieved?

Run the submit script (from the simulator package) in MATLAB to submit your solutions.

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