Pitt CS 1699 - Intermediate Programming and System Design Using a Mobile Robot (2 pages)

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Intermediate Programming and System Design Using a Mobile Robot



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Intermediate Programming and System Design Using a Mobile Robot

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Pages:
2
School:
University of Pittsburgh
Course:
Cs 1699 - Spec Topics in Computr Science
Spec Topics in Computr Science Documents

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CS 1699 Intermediate Programming and System Design Using a Mobile Robot Lab 3 Multiple Sensor Integration Introduction The purpose of this lab is to gain experience on interpreting data from multiple sensors sensor fusion and to learn how to resolve conflicting data when it is presented Your specific task is as follows Modify the waypoint navigation program from lab 2 to incorporate sonar data for positioning as well as encoder data In this case we will provide a sonar target at a known position relative to each waypoint Using the location of the sonar contact the location of the waypoints and the position report from the encoders you should be able if all goes well to accurately navigate to the waypoint If navigation errors happen they will appear as inconsistencies between the actual distance to the sonar contact as reported by the sonars versus the distance calculated by triangulation of the current encoder position report the given waypoint location and the given sonar contact location Implementation Overload the Go method from your previous lab with the following three parameter version Go int TargetWaypointRange int SonarContactRelativeBearing int SonarContact Range All three parameters are inputs that should be interpreted according to the diagram below Target Waypoint Start Waypoint oi tWayp Targe ge ntRan SonarContactRelativeBearing Sonar Co nta ct Ran g Sonar Contact e In this diagram the starting and ending waypoints are shown as circles and the sonar contact is shown as the square The TargetWaypointRange parameter is the distance from the start waypoint to the target waypoint As in the lab 2 version it is assumed that the robot has already been positioned to point toward the target by a previous turn command The SonarContactRelativeBearing and SonarContact Range parameters are the angle and distance from the start waypoint to the sonar contact The bearing angle is given relative to a line intersecting the start and target waypoints All units are tenths



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