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Control of mobile robots 1

After passing the coursera.org course Control of Mobile Robots taught by a great professor Magnus Egerstedt. I have created a simulation of the differential drive robot.

Simulation

The simulation below demonstrates DDR (differential drive robot) robot trying to reach a goal and avoid obstacles. Robot has 20 lasers with limited range. Measurements from all of the lasers are averaged to create a vector to a obstacle robot has to avoid. Robot also gets vector from its position to the goal position. Based on this data 4 different behaviors are switched:

1. GTG - go to goal

2. FW_CC - follow wall clock-wise

3. FW_C - follow wall counter clock-wise

4. AO - avoid obstacle

Obstacles as well as the goal (red dot) in the simulation applet are movable so do not hesitate to play with different environment configuration. On the right pane you may watch a telemetry of the robot. Currently used behavior is displayed too.

Conclusion: I strongly recommend the course to everybody :).

map how behaviors are switched

 

 

 

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