Mobile Robot Control 2024 Ultron

Group members

Caption

Name	student ID
Hao Zhou	2009447
Aori Qiling	1942352
Chuyu Lu	1936964
Yuntong Li	1921703
Nan Zhu	2044331
Yidan Zhu	2033542

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Exercises

Name	Description	Solution
Exercises 1	File:Installation instructions and exercises1.pdf File: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.
     

Exercise2

Hao

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