bugAlgorithms

bugAlgorithms - MEM380: Fundamental Robotics I Assignment 4...

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MEM380: Fundamental Robotics I Assignment 4 Due: Tuesday, 10/27/09, 11:59pm EST 1 Objective The objective of this assignment is to implement the BUG1 and BUG2 algorithms on a mobile robot using either a set of contact sensors OR a 360 field of view range finder. You are given the following Matlab files: BUGsimulator.m : This is the main Matlab script. This file will generate a square environ- ment with obstacles and create a point robot at the specified start position. You also specify the goal position for the robot on line 25 of this file. initializeWorkspace.m : This Matlab script encodes all the workspace geometry. The vari- ables created from this script is used by the functions getContactSensorRdgs and getRangeRdgs and the script plotWorkspace.m . plotWorkspace.m : This Matlab script plots the workspace for the robot. rob = makeRobot(x, y, theta) : This function creates a robot positioned at (x, y) facing in the theta direction. Here x, y, theta are coordinates in the world frame. The output rob is a Matlab structure with the members x , y , and theta , i.e. rob.x
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bugAlgorithms - MEM380: Fundamental Robotics I Assignment 4...

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