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ELEE 4200/5200 Autonomous Mobility Robotics

创建日期：2024-08-15 17:32:13

所属分类：计算机computer science

标签： ELEE 5200

Autonomous Mobility Robotics

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ELEE 4200/5200: Autonomous Mobility Robotics

Homework 2: Open-Loop & Closed-Loop Driving

Note:

? The broad goals of this assignment are:

o To implement a basic closed-loop control algorithm, which requires the use of a

feedback loop directly monitoring the variable to be controlled.

o To compare results with a corresponding open-loop implementation of the same task.

? Guidelines:

o If you are an undergraduate student, you are permitted to work in groups of no more

than two students. However, if you prefer to work on your own, that is fine too!

o Submit the report by responding to this assignment posting in Blackboard.

o Each group must work on its own in completing this assignment! Feel free to consult

with others in developing solution ideas, but the final code implemented must be your

work product alone. Refer to the Syllabus, where the policy on academic integrity is

outlined, our classroom discussions on this topic, and consult with me and/or the GTA if

you have any questions!

Background:

In Homework 1 we drove the robot using velocity commands that were either fixed entirely

or fixed over driving segments (the ‘6’ & ‘9’ patterns). In all cases, the program did not

incorporate the right feedback, even as we implemented a control system! This is because we

were not monitoring the proper variable as the robot drove. The aim of this assignment is to go

one step further by driving the robot using the proper feedback to guide it.

Let us take the circle path of HW1 as an example. We set the velocity of the robot and then

drove it for the estimated time it would take to travel a distance equal to the circumference of

the circle. However, this strategy assumes that the robot achieves the desired velocity

immediately, even though it is starting from a stationary position. This would obviously not be

true in practice. In fact, we can prove it would not by getting the robot to trace a full circle after

it has had time to reach the target velocity. The circle would be slightly different in this

situation.

Furthermore, even if the robot achieves the commanded velocity instantaneously, typically

the ground is non-uniform in terms of its friction characteristics as well as flatness. So, in

practice velocities are not constant all the time. The vehicle’s internal speed control system

tries to maintain the commanded velocities, but it cannot achieve this instantaneously. That is,

the velocity fluctuates from moment to moment, just like when we drive a car.

We can in a sense say that in HW1 we implemented an open-loop control system, because

we did not monitor the correct target quantity of distance traveled. Instead, we monitored

drive time, which is inherently based on the assumption that the velocity will hold steady. In

this homework we will monitor distance traveled instead, which is downstream from time of

travel, and is not dependent on the assumption of a steady velocity. It is a better indicator of

whether we have traveled as far as we want. In fact, we will do both so that you can compare

the results obtained.

Figure 1: Desired Triangular Robot Path

AB = 3 meters

Angle A = 60

Angle B = 60

NOT TO SCALE!

Tasks:

1. Drive the robot counterclockwise around the triangular path shown in Figure 1 from the

assumed starting position of the origin of the World Frame. First, do it with an open-loop

strategy as follows:

a. Drive the robot straight at a chosen fixed forward velocity ‘v’ for the estimated time to

complete the first side of the triangle. For this part set ?? = 0.

b. Then, stop the robot at the corner reached and rotate it in place for the estimated time

to point to the next vertex, based on a chosen rotational rate ‘?’. This is known as a

stop-turn-go strategy.

c. Similarly, navigate the rest of the triangle.

d. Plot the path of the robot using odometry values.

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