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Optional Programming Assignment O7

This document provides instructions for an optional programming assignment to program a robot simulator. Students are asked to download updated files and implement a finite state machine to navigate the robot to a goal location, combining previous controllers to avoid obstacles and follow walls. The submission will be graded based on whether the robot navigates successfully to within 5cm of the goal location.

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17 views

Optional Programming Assignment O7

This document provides instructions for an optional programming assignment to program a robot simulator. Students are asked to download updated files and implement a finite state machine to navigate the robot to a goal location, combining previous controllers to avoid obstacles and follow walls. The submission will be graded based on whether the robot navigates successfully to within 5cm of the goal location.

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 7: Instructions

Help

Start by downloading the robot simulator and updated manual for this week:
1. simiam-coursera-week-7.zip (Updated: 2014-02-28)
2. manual-coursera-sp14.pdf (Updated: 2014-02-28)
This week you will be combining the go-to-goal, avoid-obstacles, and follow-wall controllers into a full
navigation system for the robot. The robot will be able to navigate around a cluttered, complex
environment without colliding with any obstacles and reaching the goal location successfully.
1. Implement the progress_made event that will determine whether the robot is making any progress
towards the goal.
2. Implement the sliding_left and sliding_right events that will serve as a criterion for whether the
robot should continue to follow the wall (left or right) or switch back to the go-to-goal behavior.
3. Implement the finite state machine that will navigate the robot to the goal located at
(xg , y g ) = (1.1, 1.1) without colliding with any of the obstacles in the environment.
Please make sure read the "Week 7" 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. Navigating to the goal: Does the robot successfully stop within 5cm of the goal location?
Run the submit script (from the simulator package) in MATLAB to submit your solutions.

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