Its based on reactive/behavior-based control mechanism . In this project, you ar

Question

Its based on reactive/behavior-based control mechanism . In this project, you are going to implement the robot program that controls the robot to go from one position to another position without bumping into any obstacles. To do this, you will need to implement the primitive behaviors such as goto and avoid_obstacle and combine their results by vector summation through potential fields. The goto behavior will be similar to what you have designed in project 2. The avoid_obstacle behavior will require the robot to have a certain type of range sensor (such as laser).

Your program should accept an arbitrary goal position (goal_x, goal_y) as itscommand line arguments and direct the robot from its initial position (as defined in the configuration file) to the goal position.

Create your own configuration files based on the simple.cfg and simple.world so that the robot has the necessary sensors.

To test your control program, you should at least test three random goal positions (you can hand-pick them) to your control program (make sure that you test the ones that have obstacles in between the initial position and the goal position); run your control programs and generate screen dumps that show the trails of the robot from start to finish. If you are not able to show the complete trail in one screen dump, you can do so with three. For example, one screen shot can show the robot just starts moving, another shows the robot getting around an obstacle, and the last one shows the robot reaching the goal.

During your testing, if you found that there are positions that your robot cannot reach, think about how to vary your gain vector or weights to the above two behaviors

Explanation / Answer

The codes below might be helpful.

Related Questions

Navigate

• Browse (All)
• Browse I
• Subjects

Integrity-first tutoring: explanations and feedback only — we do not complete graded work. Learn more.