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Overview
Coordinate Frames
Robots coordinates are in
the world frame.
( x, y, )
World Frame
Coordinate Frames
Robot Frame
( xs , y s 4 , s 4 )
4
Coordinate Frames
d 4
0
IR distance is defined in a
sensors frame (centered at
sensor, with sensors
orientation)
Sensor is Frame
World Frame
x'
y'
1
xdi
d i
y R ( x, y , ) R ( x , y , ) 0
si
si
si
di
1
1
5
Obstacle Avoidance
s
6
Summing up Vectors
Sum up the vectors from
robot to the transformed IR
distances (u_i).
PID controller steers robot
to the orientation
(theta_ao) of this vector,
u_ao.
10
Testing
11
Tips
12