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hw2-F09

hw2-F09 - CS685 Homework 2 due Oct 14th Jana Koeck sa 1...

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CS685 - Homework 2, due Oct 14th, Jana Koˇ seck´ a 1. Consider a differential drive model of the mobile robot with a configuration space [ x, y, θ ] T , where we can control linear and angular velocity of the robot v and ω . The kinematic model describing the motion of the mobile robot is as follows: ˙ x = v cos( θ ) ˙ y = v sin( θ ) ˙ θ = ω Implement the closed loop feed-back control law v = k ρ ρ (1) ω = k α α + k β β (2) described in class, where ρ, α, β is the configuration of the robot expressed in polar coordinates (with respect to the goal). As a part of this exercise you will need to use the function written for homework 2, which simulates the odometry of the mobile robot. You will need to write a function [x,y,theta] = goTo(x g ) , which keeps on applying the control law and simulating the robot forward checking the flag which indicates that the goal position is reached. Ex- periment with different values of k ρ , k α , k β and describe any observations and strategies you chose to decide whether the goal was reached. Test the control law for variety of initial/goal positions. Hand in the plots of
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