HelpOptional Programming Assignment 3: Instructions

Start by downloading the robot simulator and update manual for this week:

1. simiam-coursera-week-3.zip (Updated: 2014-01-31)

2. manual-coursera-sp14.pdf (Updated: 2014-02-02)

Instructions

Before you can drive to robot to different waypoints in the simulator, you will need to implement three

components of the go-to-goal behavior:

1. Calculate the heading (angle), , to the goal location . Let be the vector from the

robot located at to the goal located at , then is the angle makes with the -

axis (positive is in the counterclockwise direction).

2. Calculate the error between and the current heading of the robot, .

3. Calculate the proportional, integral, and derivative terms for the PID regulator that steers the robot

to the goal.

4. Also, ensure that the robot steers with an angular velocity , even if the combination of and

exceeds the maximum angular velocity of the robot's motors.

Remember to read the section for Week 3 in the manual for details that will help you

complete this assignment!

Submission

This week's automatic grader will test:

1. Arriving at the goal location: Does the robot reach the goal location (within 5cm of the location)?

2. Tuning the PID gains for performance: Are the PID gains tuned such that the settle time is less

than three second and the overshoot is no greater than 10% of the reference signal (angle to the

goal location)?

3. Reshaping the output for the hardware: If the output of the controller is greater than what

the motors support, is the linear velocity scaled back to ensure is achieved?

Run the submit script (from the simulator package) in MATLAB to submit your solutions.

g ( , )xg yg u(x, y) ( , )xg yg g u x

gg

v

(v, )v

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