Mobile Robot Control 2024 HAL-9000
Group members:
| Name | student ID |
|---|---|
| Salim Achaoui | 1502670 |
| Luis Ponce Pacheco | 2109417 |
| Nienke van Hemmen | 1459570 |
| Mohamed Elbehery | 1035058 |
| Aniek Wigman | 1463535 |
| Max Hage | 1246704 |
| Max van der Donk | 1241769 |
Exercise 1: Non-crashing robot
For the first exercise, the goal was to ensure that the robot does not move through walls in the simulation and not crash into the walls in both the simulation and the real world. To solve this matter, there were multiple solutions. The first solution collects all of the data from the lasers and stops the robot when it reaches a wall. A second solution also uses this notion but instead of stopping the robot, the robot turns away from the wall. These solutions were then tested on the robot in real life. After testing, it became clear that, although stopping the robot was not an issue, the robot was not able to move along a wall in parallel. This issue occurred since the sensor data was taken uniformly. So on all sides, the robot would stop with the same threshold. Therefore, a third solution was made that took the orientation of the sensor data into account for the robot to move alongside a wall. The details of the solutions will now be covered in more detail.
Solution 1
For the first solution, we utilize the laser data that the robot has. We look at whether ther