Mobile Robot Control 2024 Ultron

From Control Systems Technology Group
Revision as of 12:08, 30 April 2024 by N.zhu@student.tue.nl (talk | contribs) (Add Solution pages.)
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Group members

Caption
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:

  1. 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.
  2. 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.
  3. 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.
  4. 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.
      Execise1 Hao.png

Exercise2

Hao

  1. In map1 the robot can stop as the designed purpose.
    Exercise2-1 Hao.png
  2. In map2 the robot stopped when detected the wall on the right side with distance<=0.2
    Exercise2-2 Hao.png