HelpOptional Programming Assignment 6: Instructions

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

1. simiam-coursera-week-6.zip (Updated: 2014-02-17)

2. manual-coursera-sp14.pdf (Updated: 2014-02-17)

This week you will be implementing a wall following behavior that will aid the robot in navigating around

obstacles. Implement these parts in +simiam/+controller/+FollowWall.m.

1. Compute a vector, , that estimates a section of the obstacle ("wall") next to the robot using

the robot's right (or left) IR sensors.

2. Compute a vector, , that points from the robot to the closest point on .

3. Combine the two vectors, such that it can be used as a heading vector for a PID controller that will

follow the wall to the right (or left) at some distance .

Please make sure read the "Week 6" section in the manual for directions on where to add your code in

the robot simulator and some additional help.

Submission

This week's automatic grader will test:

1. Two laps around the obstacle on the left: Does the robot successfully follow the obstacle on its left

for two laps within 90 seconds?

2. Two laps around the obstacle on the right: Does the robot successfully follow the obstacle on its

right for two laps within 90 seconds?

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

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