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ENG5009 Advanced Control
创建日期：2024-07-09 18:04:00
标签： ENG5009
Advanced Control

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ENG5009 Advanced Control 5 Assignment


Introduction

This assignment is presented as a challenge within control engineering and is split into two parts:

1.    Create a controller that can control a mobile robot to a selected waypoint,

2.    Create a controller, or combine two controllers, that can command a mobile robot to follow a series of waypoints while avoiding obstacles.

You will be required to write a report on the approach you took to complete the tasks outlined. This should include:

•    A description of the controller used, or controllers and method of switching,

•    How the parameters for the control system were selected,

•    Highlight and describe any testing carried out,

•    Results should be provided and discussed,

•    Improvements, if any, should be highlighted.

If you are notable to complete the waypoint path, then a detailed report on the approach you took, the debugging steps you undertook (with results), and the how you would work towards completing the challenge is acceptable.

The report should be a MAXIMUM of 10 pages (not including appendices).

A marking scheme is provided on the course Moodle page.

For the report astandard engineering report structure could be followed a, for example:

•    Introduction

•    Methodology/Approach

•    Testing

•    Results

•    Discussion

•    Appendices

All resources are provided on the course Moodle page, and you can ask for help in the laboratories and over email.

You are also free to use the Fuzzy Logic Toolbox but ensure justification of the methods used is made.

Task 1

Develop a controller that can drive the robot to a selected point. The position of the robot can be assumed to be accurately know via robot_x and robot_y.

The first stage of developing this controller is to establish the direction that the robot is required to drive in. To achieve this, you can use the following function to workout the required heading:

[booleanAtCheckpoint, newHeadingAngle] =

ComputeHeadingAngle(currentLocation, checkpoint, tolerance)

in which:

currentLocation – the current coordinates of the robot, you can use state(timeStep,19:20)

checkpoint – the coordinates of the checkpoint the robot is aiming for now

tolerance – if the robot is within an x meter radius of the target it is considered at the waypoint (use x = 0.05)

booleanAtCheckpoint – returns 1 if the robot reached the checkpoint and 0 if not

newHeadingAngle – the heading angle to move towards the given checkpoint

Once you have implemented the above controller, provide a plot showing the robot driving through the points provided in Table 1 consecutively.

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关键词一 关键词二 关键词三 关键词四 关键词五 和法规和的发更好的风格和 ECON 615 FINC 612 CSC148 COMP 639 ACCT 203 ACCT 211 PSYC 101 MTH2009 COMP52315 PSYCO 432 statistics MATH4063 11 xxx 1 MA1MSP MAST30028 MATH3888 CS341 EEE30002 ES2F5 MCD4160 CC0933 ECON 1101 MCHM3001 CHEM3118 COMMGMT 2511 COMP41280 STAT 631 24T1 IRE379 SENG365 ECON433 FIT3139 MATH4602 LING5621M FINS5516 ECON3208 MN2177 L2 SM EEET1415 Finance DS4023 COMP3004 7CCSMRTS K1S5B6 Stat230 CSCI4211 CSI2132 ECON30130 MAS6100 ENVS222 COM2107 INFO1112 STAT 4004 FIT2100 comp2022 COMP4691 Physics 307 Econ 659 probability CSCI316 fir29 CSCI203 COMP3160 COMP6714 INFO1113 Physics 7B Physics Photonics S203031 STAT2005 COMP90015 CSCI 2110 CSCC46 Information CSC477 COMP4650 Statistical COMP 346 COMP1017 ELEC340 MATH1007 Programming function STAT 244 CS 134 Java cse13s Math 108A FW20 ECON3389 CSE 130 Science 331 COMP9020 engineering COSC 445 CSE 5523 GAME2012 visualization MATH 235 Math 370 CSC343 COGS 108 EE524 COMP10200 STAT 416 3FK4 MSCI 311 ECON6113 ACC40700 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