on the following task first you have to understand that i know
nothing am really stuck and dont know what to do. So i took a
screen shot of it if you need anthing else just let me know and i
update the question. as i read it and understand is that i have to
create a node called controller for moving the bowl object.
with this assignment we were also given the tar file as mentioneed
in the picture below but cant share it here i dont know how.
i would like help as soon as possible and thank you in advance
On The Following Task First You Have To Understand That I Know Nothing Am Really Stuck And Dont Know What To Do So I To 1 (127.21 KiB) Viewed 40 times
Task 1: Feedback Loop Control — 15 marks Setup In this task, you are to drive a robot towards an object using feedback loop control. To begin, download the assignment1_setup.tar file associated with this document and extract it into your catkin_ws/src folder. You will then compile the package from the catkin_ws folder by running catkin_make. Once you have compiled the setup files, launch the turtlebot3 empty world. $ roslaunch turtlebot3-gazebo turtlebot3_empty-world. launch You will need to place a bowll in this world which will be your target object. Then in a separate terminal, run the virtual sonars for the turtlebot. $ rosrun assignment 1 setup sonars Task Description Your task is to create a separate ROS node called controller for moving towards the bowl object. You may use the three sonars for feedback loop control using the /sonars topic. The sonars are placed at 30 degree increments on the front of the robot (see Figure 1) and will take a minimum of 10 ms to update the sonar topic. The sonars report a distance to the object in centimetres and any lost signals will report as the maximum distance (65,535 cm in our case). You must implement a PID control algorithm in your controller (see equation below). det) Y(t) = Kpe(t) + Kd dt +K L'exe'yde e(t)dt' where: • e(t) is the input error. • t is time. If your version of gazebo does not contain the bowl object, then you may choose a different object in gazebo and specify the object name using the-t (target_namel option when invoking the sonars node.
• K, is the proportional gain. • Kd is the derivative gain. . K is the integral gain. distance distancel distance2 Robot Figure 1: The Sonar Arrangement Discussion Create a discussion section in your report where you examine the benefits of feedback-loop control over open-loop control. Discuss your implementation and how you tuned your controller. Describe the PID control algorithm and how it works using this task as an example. Discuss any advan- tages/disadvantages in using the PID algorithm for this task.
Join a community of subject matter experts. Register for FREE to view solutions, replies, and use search function. Request answer by replying!