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Optional Programming Assignment 6: Instructions: U U U D

This document provides instructions for an optional programming assignment to implement a wall following behavior for a robot simulator. Students are asked to write code to compute vectors estimating the wall position and robot position relative to the wall, and to combine these vectors to generate a heading for a PID controller to follow the wall at a set distance. The assignment will be automatically graded based on the robot's ability to successfully follow obstacles on both its left and right sides within 90 seconds over two laps. Students should submit their solutions by running the submit script in MATLAB.

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33 views

Optional Programming Assignment 6: Instructions: U U U D

This document provides instructions for an optional programming assignment to implement a wall following behavior for a robot simulator. Students are asked to write code to compute vectors estimating the wall position and robot position relative to the wall, and to combine these vectors to generate a heading for a PID controller to follow the wall at a set distance. The assignment will be automatically graded based on the robot's ability to successfully follow obstacles on both its left and right sides within 90 seconds over two laps. Students should submit their solutions by running the submit script in MATLAB.

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 6: Instructions

Help

Start by downloading the robot simulator and updated manual for this week:
1. simiam-coursera-week-6.zip (Updated: 2014-02-17)
2. manual-coursera-sp14.pdf (Updated: 2014-02-17)
This week you will be implementing a wall following behavior that will aid the robot in navigating around
obstacles. Implement these parts in +simiam/+controller/+FollowWall.m.
1. Compute a vector, ufw,t , that estimates a section of the obstacle ("wall") next to the robot using
the robot's right (or left) IR sensors.
2. Compute a vector, ufw,p , that points from the robot to the closest point on ufw,t .
3. Combine the two vectors, such that it can be used as a heading vector for a PID controller that will
follow the wall to the right (or left) at some distance d fw .
Please make sure read the "Week 6" 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. Two laps around the obstacle on the left: Does the robot successfully follow the obstacle on its left
for two laps within 90 seconds?
2. Two laps around the obstacle on the right: Does the robot successfully follow the obstacle on its
right for two laps within 90 seconds?
Run the submit script (from the simulator package) in MATLAB to submit your solutions.

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