a) A differential steering robot in the global frame with l = 5 cm starts at (XL, Xt) = (0 cm, 0 cm), 0 = 15°, t = 0 sec

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A A Differential Steering Robot In The Global Frame With L 5 Cm Starts At Xl Xt 0 Cm 0 Cm 0 15 T 0 Sec 1 (36.21 KiB) Viewed 16 times

a) A differential steering robot in the global frame with l = 5 cm starts at (XL, Xt) = (0 cm, 0 cm), 0 = 15°, t = 0 second. Answer the following questions: = = į, The robot moves in straight line with both wheels at 3 cm/sec and moves for 15 seconds. Determine the pose of the robot at t = 15seconds. [5 marks] ii. From the new location in question (i) the robot sets the right wheel to 2 cm/s and the left wheel to -2 cm/s and moves in counter clockwise spin for 5 more seconds. Determine the pose of the robot at t = 20seconds. [6 marks] iii. After 20 seconds, set the robot moves in straight line again with both wheels at 5cm/sec and moves for another 5 sec. Determine the location of the robot at t = 25 seconds. [5 marks]