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Optional Programming Assignment 5o

This document provides instructions for optional programming assignment 5, which involves improving controllers for a robot simulator to allow arbitration between a go-to-goal controller and avoid-obstacle controller. Students are asked to implement a blended controller and a switching controller, then test them in the simulator to navigate to a goal without collisions within 60 seconds while switching less than 2 times per second on average. The submission will be graded based on successful navigation using each controller type.

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13 views2 pages

Optional Programming Assignment 5o

This document provides instructions for optional programming assignment 5, which involves improving controllers for a robot simulator to allow arbitration between a go-to-goal controller and avoid-obstacle controller. Students are asked to implement a blended controller and a switching controller, then test them in the simulator to navigate to a goal without collisions within 60 seconds while switching less than 2 times per second on average. The submission will be graded based on successful navigation using each controller type.

Uploaded by

jcvoscrib
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Optional Programming Assignment 5: Instructions

Help

Start by downloading the robot simulator and updated manual for this week:
1. simiam-coursera-week-5.zip (Updated: 2014-02-14)
2. manual-coursera-sp14.pdf (Updated: 2014-02-14)
This week you will be making a small improvement to the go-to-goal and avoid-obstacle controllers and
testing two arbitration mechanisms: blending and hard switches. Arbitration between the two controllers
will allow the robot to drive to a goal, while not colliding with any obstacles on the way.
1. (Optional) Implement a simple control for the linear velocity, v, as a function of the angular
velocity, . Add it to both +simiam/+controller/GoToGoal.m and
+simiam/+controller/AvoidObstacles.m.
2. Combine your go-to-goal controller and avoid-obstacle controller into a single controller that
blends the two behaviors. Implement it in +simiam/+controller/AOandGTG.m.
3. Implement the switching logic that switches between the go-to-goal controller and the avoidobstacles controller, such that the robot avoids any nearby obstacles and drives to the goal when
clear of any obstacles.
4. Improve the switching arbitration by using the blended controller as an intermediary between the
go-to-goal and avoid-obstacles controller.
Please make sure read the "Week 5" section in the manual for directions on where to add your code in
the robot simulator and some additional help.

Submission
This week's automatic grader will test:
1. Collision-free navigation with blending: Does the robot reach the goal within 60 seconds using the
blended controller?
2. Collision-free navigation with switching: Does the robot reach the goal within 60 seconds using the
improved switching arbitration? Does the robot switch between controllers less than 2 times a
second (on average)?
Run the submit script (from the simulator package) in MATLAB to submit your solutions.

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