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Programming & Simulation Lecture 7 Slides

1. This document discusses navigation of a mobile robot through an obstacle course using a finite state machine approach. 2. It describes implementing the navigation logic in the robot supervisor by answering questions about making progress towards the goal, following walls, and switching between states. 3. Tips are provided for drawing out and implementing the finite state machine to handle navigation behaviors like avoiding obstacles, following walls, and reaching the goal location.

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115 views11 pages

Programming & Simulation Lecture 7 Slides

1. This document discusses navigation of a mobile robot through an obstacle course using a finite state machine approach. 2. It describes implementing the navigation logic in the robot supervisor by answering questions about making progress towards the goal, following walls, and switching between states. 3. Tips are provided for drawing out and implementing the finite state machine to handle navigation behaviors like avoiding obstacles, following walls, and reaching the goal location.

Uploaded by

yashar2500
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Navigation

Control of Mobile Robots: Programming & Simulation Week 7


Jean-Pierre de la Croix
ECE Ph.D. Candidate
Georgia Inst. of Technology

Overview

This week we need to answer three questions to achieve


navigation through the obstacle course:
1. Is the robot making progress towards the goal?
2. Should the robot follow the wall to the right or the left?
3. If the robot is in state A and event 2 becomes true, then to which
state should the robot switch?

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Implementation

All parts of this weeks programming assignment will be


implemented in the supervisor:
+simiam/+controller/+quickbot/QBSupervisor.m

Lets see it in action!

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Progression Towards The Goal


Robot first attempts to
approach the goal while
avoiding obstacles as
before.
u gtg

uao

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Progression Towards The Goal


Update progress with
set_progress_point
and check with
progress_made event.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Switching to Follow Wall

u gtg

u fw,l
uao

When no more progress is


made, try to switch to
following the wall.
What should
obj.fw_direction be?

u fw,r

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Switching to Follow Wall


Is u_fw is between u_ao
and u_gtg?
u gtg

u fw,l
uao

Lets use a little bit of linear


algebra:

u fw,r

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

gtg


uao 1 u fw,l
2

New Progress
progress_made and
~sliding_left, so lets
switch back to go_to_goal.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Finite State Machine


A few pointers for the navigation FSM:
1. If at_goal, then stop.
2. If unsafe, then switch to avoid_obstacles.
3. If go_to_goal and ~progress_made, then switch to
follow_wall if sliding_left or sliding_right.
4. If progress_made while
follow_wall and
~sliding_left or
~sliding_right,
then switch to go_to_goal.
8

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Tips

Refer to the section for Week 7 in the manual for more


details!
Draw out the FSM on paper, step through it, and then
implement and test it.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

Whats Next?

10

The simulator and its documentation will be available


outside of this course:
http://gritslab.gatech.edu/projects/robot-simulator
Contribute your improvements, new robots, new sensors,
and anything else on GitHub.
Thank you for your hard work!

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 7

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