What values worked out well for the two constants

Assignment Help Other Subject
Reference no: EM131102227

E28: Mobile Robotics - Fall 2015 - HOMEWORK 7

Background

The hw7 gate.py (Python) and the hw7 gate.m (MATLAB) examples from the course website show how an artificial potential function could be used to steer a robot through a "gate" made from two pylons. Download either of the two examples, read over it, and run it before answering the following questions (please type your answers).

When you run it, you will see four plots corresponding to four different starting positions of the robot. Each plot is titled to indicate the starting point in the gate's coordinate frame, along with indications of whether the robot hit a pylon, and whether the robot successfully made it between the pylons to get through the gate. A run is considered successful when the robot doesn't hit the pylon and goes through the gate.

1. Getting through the gate

Increase the k_gate constant until the robot successfully passes through the gate from each starting point (I'd start at about 0.5 and ramp up from there). Then, gradually increase t_gate and k_gate together until the robot goes through the pylons without collisions.

a. What values worked out well for the two constants?

b. Describe what happens to the potential field (contour plot) and the resulting force vectors (arrow plot) as you modified these values.

2. Potential function

Alas, I didn't comment my code. Good thing you're here to make sense of it.

a. What is the purpose of the U_x component of the potential? The U_y component? U_obs?

b. Consider the two infinite rays extending up and down along the y-axis from the points at y ± gate_rad. Explain how the d_obs variable computes the distance from any point (x, y) to the nearest point on either ray. Why does computing the absolute value |y| come into play here?

c. What is the purpose of the variable close being used as an index into the d_obs array?

d. Sketch (or graph) a plot of the relationship between d_obs (independent variable) and the U_obs potential component (dependent variable). Clearly indicate where t_gate is on the x-axis.

3. Getting stuck

Why does the robot seem to get stuck when you set k_gate to 3.0 and t_gate to 1.0? What undesirable phenomenon does the potential function develop?

4. Checking for collisions

Explain how the collision checking code involving dpy1on works.

5. Computing forces

Explain how the code inside force_at can be said to be taking a "poor man's gradient" of the potential function. Why is this easier to code than computing the correct analytic gradient?

6. Integrating forces

Outline the method being used to simulate the robot motion in integrate_forces. What configuration space does our simulated robot live in? Are we explicitly modeling the robot's orientation?

Attachment:- Assignment.rar

Reference no: EM131102227

Questions Cloud

Determine the muzzle speed of the bullet : A projectile is fired from the platform at B. The shooter fires his gun from point A at an angle 30° of . Determine the muzzle speed of the bullet if it hits the projectile at C
What is the net cost of the machine for capital budgeting : What is the net cost of the machine for capital budgeting purposes? (That is, what is the Year 0 net cash flow?) What are the net operating cash flows in Years 1, 2, and 3? What is the terminal year cash flow? If the project's cost of capital is 12 p..
Following situations involve descriptive statistics : Indicate which of the following situations involve descriptive statistics and which involve inferential statistics:
Impact a launch of a new service : The purpose of this assessment is to analyze the impact a launch of a new service will have on the demand of the existing competing services.
What values worked out well for the two constants : What values worked out well for the two constants? Describe what happens to the potential field (contour plot) and the resulting force vectors (arrow plot) as you modified these values
What do we mean when we say that accounting : What do we mean when we say that accounting is a means rather than an end?
Determine the angular acceleration of the bar : Neglect the friction and mass of the small rollers.
Using spss-graphing-basic descriptive statistics : A word document containing answers to the questions below only including appropriately labeled and formatted supporting tables and graphs ~ 120 points
What is the equipment''s after-tax net salvage value : The equipment originally cost $20 million, of which 80 percent has been depreciated. Carter can sell the used equipment today to another airline for $5 million, and its tax rate is 40 percent. What is the equipment's after-tax net salvage value?

Reviews

Write a Review

 

Other Subject Questions & Answers

  Psychometric approach in measuring intelligence

Come up with a short essay question on psychometric approach in measuring intelligence and answer it. It should be moderately difficult (i.e., not something too straightforward, like only defining concepts) and show understanding of the material. You..

  Include an example of the cipher process by creating a

you may also use the slide notes function to explain slide contents as necessary.be sure to include the

  Discuss the tools scholars have implemented in order

Discuss the tools scholars have implemented in order to study the origins and authenticity of the Gospels, and what you see as the strengths and weaknesses of these tools.

  What are the three spatial hierarchies of human settlements

Laura Jackson discusses three spatial scales on the aspects of physical and mental health, and social and cultural vibrancy. What are the three spatial hierarchies of human settlements

  How the attentional blink relates to attention

here are many stimuli in your environment of which you are not aware. You use attention to filter out unimportant stimuli and focus on relevant stimuli. However, there are circumstances under which you cannot perceive stimuli, regardless of how ha..

  The value private security management brings to businesses

the value private security management brings to businesses.

  Music selections by gabrieli-monteverdi or vivaldi

Identify which of the three music selections by Gabrieli, Monteverdi, or Vivaldi you like the most (or least) and explain why.Describe a Baroque painting you feel best illustrates the piece of music that you identified from the three music selections

  Write thesis sentence stating piece of entertainment

Write down thesis sentence stating how and why it is more than just the piece of entertainment. Thesis should include why it is legitimate form of popular culture.

  What are the various ways music was preserved

What are the various ways music was preserved?

  Do the data measure what they intend to measure

For the purpose of this assignment, you will want to compare the rates of violent crime and property crime in the city in which you reside, or the nearest metropolitan area, at three points: 2007, 2011, and 2014. Do the data measure what they inte..

  What is the main function and role of papers r us

Papers R Us Proprietary Limited is a national provider of academic papers and publications for undergraduate and postgraduate students in the discipline of business. It is based in Melbourne and contracts with colleges and educational consultancies t..

  Nurse performing a health assessment on newborn infant

You are the registered nurse performing a health assessment on a newborn infant. From the functional health pattern portion of the assessment, you learn the mother is reluctant to breastfeed her baby. One of the most important aspects of health promo..

Free Assignment Quote

Assured A++ Grade

Get guaranteed satisfaction & time on delivery in every assignment order you paid with us! We ensure premium quality solution document along with free turntin report!

All rights reserved! Copyrights ©2019-2020 ExpertsMind IT Educational Pvt Ltd