Mobile Robot Control 2024 Ultron:Solution 1

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Exercise 1: the art of not crashing

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







Chuyu:

   Initialization:

       The IO object initializes the io layer.

       The Rate object helps keep the loop at a fixed frequency.

   Obstacle Detection:

       Laser data is continuously read within the control loop.

       If any distance measurement from the laser scan is less than 0.5, an obstacle is detected.

   Stopping Action:

       If an obstacle is detected:

           Different actions are taken based on the distance to the obstacle.

           If the obstacle distance is less than 0.2, the robot stops.

   Control Loop Condition:

       The loop continues executing as long as the robot is properly connected (io.ok() is true).

Exercise1 Chuyu.png

       The loop also incorporates obstacle detection and stopping actions.








Exercise 2: Testing your don't crash

Hao

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













Chuyu:

  1. In map 1, the robot keeps moving and does not collide with obstacles
  2. In map 2, the robot keeps moving and does not collide with obstacles
Exercise2-1 Chuyu.png
Exercise2-2 Chuyu.png