Mobile Robot Control 2024 Ultron:Solution 1

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.

     

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).

       The loop also incorporates obstacle detection and stopping actions.

Exercise 2: Testing your don't crash

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

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