Matlab robot simulation
Develop, build, test, and evaluate your own robot application task, experiment, using sonar or bump sensor (or combination) with the iRobot Create MATLAB simulator. This is an open-ended design problem, but should be a very focused project, experiment or demonstration which can be accomplished in the same time as approx. 2 to 3 HW problems. The solution you write must use one or more sensors on the robot (do not use time except to turn). Document and test fully. (Video of results is optional, but welcome.)
• Here are some ideas and areas to explore to help you decide on a focused project or goal. This is not a complete list. Be creative.
– You can build interesting maps in the MapMakerGUI. For example, simulating a real apartment room layout, or a challenging maze, or set of mazes. Develop an algorithm and test from different starting positions and angles. Measure and record the total distance traveled in each test case. (Hint: use DistanceSensorRoomba() function. Usage: dist = dist + DistanceSensorRoomba(serPort)
– You can may additionally use any other sensors (including floor sensors) but you must use at least one sensor of some type.
– You can build obstacle courses with smooth bends (not 90 degree turns) and determine how to navigate it with sonar. Robot could use side sonars as well. Design curves using short, straight line segments. Record results from several trials.
– You can save sensor data or robot position data in arrays while robot is moving and plot data to the screen when robot has stopped (example: figure, plot(x))
– The speed of the robot can vary based on the readings from the sonar. For example, a robot could slow down in some way as it approaches an object/wall, etc. Record x, y data or sonar data in arrays and plot, etc.
– A robot can spin and record sonar data with and without obstacles (create map). This sonar data could be saved in an array (such as d[k] = distance, k = k + 1; ) and plotted and interpreted after the robot stops.
– Test creative approaches to plotting path (such as changing color or symbols type, size, etc.)32
– See useful robot commands on following slides for additional ideas
