Mobile Robot Control 2024 Ultron: Difference between revisions
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|Yidan Zhu | |Yidan Zhu | ||
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===Exercises=== | |||
{| class="wikitable" | |||
|+ | |||
!Name | |||
!Description | |||
! Solution | |||
|- | |||
|Exercises 1 | |||
|[[:File:Installation instructions and exercises1.pdf]][[:File:Tooling exercises practical.pdf]] | |||
| [[Mobile Robot Control 2024 Ultron:Solution 1|Solution 1]] | |||
|- | |||
|Exercises 2 | |||
|[[:File:Mobile Robot Control 2024 - Local Navigation Assignment.pdf|File:Local Navigation Assignment.pdf]] | |||
|[[Mobile Robot Control 2024 Ultron:Solution 2|Solution 2]] | |||
|} | |} | ||
Exercise1 | Exercise1 | ||
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# Boolean Flag: | # Boolean Flag: | ||
#* A boolean flag named 'move ' is used to control whether the robot should continue moving or stop. | #* A boolean flag named 'move ' is used to control whether the robot should continue moving or stop. | ||
#* It is initialized to 'true', indicating that the robot is initially allowed to move. | #*It is initialized to 'true', indicating that the robot is initially allowed to move. | ||
# Obstacle Detection: | #Obstacle Detection: | ||
#* The program continuously reads laser sensor data inside the control loop. | #*The program continuously reads laser sensor data inside the control loop. | ||
#* If any distance measurement from the laser scan is less than 0.2, an obstacle is detected. | #*If any distance measurement from the laser scan is less than 0.2, an obstacle is detected. | ||
# Stopping Action: | #Stopping Action: | ||
#* When an obstacle is detected, the 'move ' flag is set to 'false'. | #*When an obstacle is detected, the 'move ' flag is set to 'false'. | ||
#* Setting 'move ' to 'false' indicates that the robot should stop moving. | #*Setting 'move ' to 'false' indicates that the robot should stop moving. | ||
#* Additionally, a stop command 'io.sendBaseReference(0, 0, 0)' is sent to the base controller immediately after detecting the obstacle. | #*Additionally, a stop command 'io.sendBaseReference(0, 0, 0)' is sent to the base controller immediately after detecting the obstacle. | ||
# Control Loop Condition: | #Control Loop Condition: | ||
#* The control loop continues executing as long as the robot is properly connected 'io.ok()' and the 'move ' flag is 'true'. | #*The control loop continues executing as long as the robot is properly connected 'io.ok()' and the 'move ' flag is 'true'. | ||
#* Once the 'move' flag is set to 'false' , the control loop stops executing, effectively halting the robot's motion. | #*Once the 'move' flag is set to 'false' , the control loop stops executing, effectively halting the robot's motion.[[File:Execise1 Hao.png|thumb]] | ||
[[File: | Exercise2 | ||
Hao | |||
#In map1 the robot can stop as the designed purpose.[[File:Exercise2-1 Hao.png|thumb]] | |||
#In map2 the robot stopped when detected the wall on the right side with distance<=0.2[[File:Exercise2-2 Hao.png|thumb]] | |||
Revision as of 12:08, 30 April 2024
Group members
| Name | student ID |
|---|---|
| Hao Zhou | 2009447 |
| Aori Qiling | 1942352 |
| Chuyu Lu | 1936964 |
| Yuntong Li | 1921703 |
| Nan Zhu | 2044331 |
| Yidan Zhu | 2033542 |
Exercises
| Name | Description | Solution |
|---|---|---|
| Exercises 1 | File:Installation instructions and exercises1.pdfFile:Tooling exercises practical.pdf | Solution 1 |
| Exercises 2 | File:Local Navigation Assignment.pdf | Solution 2 |
Exercise1
Hao:
- Boolean Flag:
- A boolean flag named 'move ' is used to control whether the robot should continue moving or stop.
- It is initialized to 'true', indicating that the robot is initially allowed to move.
- Obstacle Detection:
- The program continuously reads laser sensor data inside the control loop.
- If any distance measurement from the laser scan is less than 0.2, an obstacle is detected.
- Stopping Action:
- When an obstacle is detected, the 'move ' flag is set to 'false'.
- Setting 'move ' to 'false' indicates that the robot should stop moving.
- Additionally, a stop command 'io.sendBaseReference(0, 0, 0)' is sent to the base controller immediately after detecting the obstacle.
- Control Loop Condition:
- The control loop continues executing as long as the robot is properly connected 'io.ok()' and the 'move ' flag is 'true'.
- Once the 'move' flag is set to 'false' , the control loop stops executing, effectively halting the robot's motion.
Exercise2
Hao
- In map1 the robot can stop as the designed purpose.
- In map2 the robot stopped when detected the wall on the right side with distance<=0.2
