{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

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

Info iconThis preview shows page 1. Sign up to view the full content.

View Full Document Right Arrow Icon
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
Background image of page 1
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

Ask a homework question - tutors are online