Ask Question, Ask an Expert

+1-415-315-9853

info@mywordsolution.com

Ask MATLAB Expert

Specification

For your CS20 final project, your team will be programming an iRobot Create to autonomously navigate a maze. The maze will consist of black lines on a white surface. Your robot will be placed at the start of the maze, faced in any direction (my choice). You are to navigate through the paths of the maze to the end, where you will run into obstacle that will trigger the robot’s bump sensor. At this point, you need to stop and visibly indicate that you are done (beep, flash lights, etc). While navigating the maze, your robot may not cross a line. For the purpose of the assignment, “crossing a line” will be defined as over ½ the robot body crossing the line. You are free to choose any strategy for navigating the maze. I would encourage you to consider a wall following algorithm. (http://en.wikipedia.org/wiki/Maze_solving_algorithm#Wall_follower).

Assumptions you may make

•    All lines are straight. They will be no less than 3” in width.
•    All corners are 90 degrees
•    The maze size is approximately 20’ by 20’.
•    The path width (line to line) is at least 24”
•    The maze is simply connected (every wall is connected to either another wall or to the boundary).
•    Make no assumption about the direction your robot will be facing when started.
•    There is a large object at the end of the maze that will trigger a bump sensor. There will be no other objects in the maze.

As you know, when working in the simulator, when the robot is travelling in area free of lines, the cliff sensors will return a value of 21.5. When a line is detected, the value is 1.5. When working with the hardware, these values are not as clear cut. Therefore, at the top of your main script, declare a variable called LT (for line threshold). All of your code should be written in terms of this value, and not a hard coded value. When you show up demonstration day, I will have done testing given the lighting, to give you a good value for LT. While working in the simulator, any value > 1.5 and < 21.5 will work.

A sample maze may look similar to this:

642_Maze sample.jpg

MATLAB, Engineering

  • Category:- MATLAB
  • Reference No.:- M9629

Have any Question? 


Related Questions in MATLAB

Pre-labobjectiveslearn how to use various matlab built-in

Pre-Lab Objectives ? Learn how to use various MATLAB built-in functions ? Become familiar with vector and matrix multiplication in MATLAB The input function is a MATLAB built-in function that allows a program to accept u ...

Problem - the state estimation equation in the discrete

Problem - The state estimation equation in the discrete Kalman filter is x ^ (n|n) = A(n - 1)x ^ (n - 1|n - 1) + K(n)[y(n) - C(n)A(n - 1)x ^ (n - 1|n - 1)] Thus, given the state transition matrix A(n) and the observation ...

Qestion 11 introductionmeasurements have been made of a

Question 1: 1 Introduction: Measurements have been made of a cantilever beam's deflection (stored in the file ass2q1in.csv). You must determine what type of loading has been applied and the magnitude of the load. There a ...

Assignment - instructions for the overall material

Assignment - Instructions for the Overall Material Balance Work with your learning pod to perform an overall material balance for fuel-grade ethanol production.  This balance is much simplified, but will help you to revi ...

1obtain the uncoded ber performance of bpsk modulation over

1. Obtain the uncoded BER performance of BPSK modulation over AWGN and Rayleigh fading channels through computer simulation. Select a suitable range of Eb/NO so that you obtain the BER in the range of (approximately) 10 ...

Implement copy-move image forgery detection in matlabpaper

Implement Copy-move image forgery detection in Matlab. Paper - Copy-move image forgery detection based on Gabor magnitude by Jen-Chun Lee. With advancement of media editing software, even people who are not image process ...

Consider the signal vt given belowwrite a matlab script to

Consider the signal v(t) given below. Write a MATLAB script to do the following (a) Display v(t) and v(2t-1) in window 1 by using subplot. (b) Display both the even component and odd component of v(t) in window 2 by usin ...

It is desired to design a power electronic system referred

It is desired to design a power electronic system, referred to as ‘the device' in below, which has the following specifications: - The device is supplied from a single-phase wall outlet which has a 240 V rms, 50 Hz speci ...

Labobjectiveslearn how to create vectors and matrices in

Lab Objectives ? Learn how to create vectors and matrices in MATLAB ? Become familiar with some of the built-in MATLAB functions and how they work Deliverables ? Submit your pre-lab answers in Bblearn under the Lab 2 pre ...

Part -1introduction to programming with matlab1 the

Part -1: Introduction to Programming with MATLAB 1. The function move_me is defined like this: function w = move_me(v,a). The first input argument v is a row-vector, while a is a scalar. The function moves every element ...

  • 4,153,160 Questions Asked
  • 13,132 Experts
  • 2,558,936 Questions Answered

Ask Experts for help!!

Looking for Assignment Help?

Start excelling in your Courses, Get help with Assignment

Write us your full requirement for evaluation and you will receive response within 20 minutes turnaround time.

Ask Now Help with Problems, Get a Best Answer

A cola-dispensing machine is set to dispense 9 ounces of

A cola-dispensing machine is set to dispense 9 ounces of cola per cup, with a standard deviation of 1.0 ounce. The manuf

What is marketingbullwhat is marketing think back to your

What is Marketing? • "What is marketing"? Think back to your impressions before you started this class versus how you

Question -your client david smith runs a small it

QUESTION - Your client, David Smith runs a small IT consulting business specialising in computer software and techno

Inspection of a random sample of 22 aircraft showed that 15

Inspection of a random sample of 22 aircraft showed that 15 needed repairs to fix a wiring problem that might compromise

Effective hrmquestionhow can an effective hrm system help

Effective HRM Question How can an effective HRM system help facilitate the achievement of an organization's strate