Optional Programming Assignment 3: Instructions

Help

Start by downloading the robot simulator and update manual for this week:
1. simiam-coursera-week-3.zip (Updated: 2014-01-31)
2. manual-coursera-sp14.pdf (Updated: 2014-02-02)

Instructions
Before you can drive to robot to different waypoints in the simulator, you will need to implement three
components of the go-to-goal behavior:
1. Calculate the heading (angle), g , to the goal location

(xg , y g ) .

robot located at (x, y) to the goal located at (xg , y g ), then

Let u be the vector from the

is the angle

makes with the

x-

axis (positive g is in the counterclockwise direction).

2. Calculate the error between g and the current heading of the robot, .
3. Calculate the proportional, integral, and derivative terms for the PID regulator that steers the robot
to the goal.
4. Also, ensure that the robot steers with an angular velocity , even if the combination of v and
exceeds the maximum angular velocity of the robot's motors.
Remember to read the section for Week 3 in the manual for details that will help you
complete this assignment!

Submission
This week's automatic grader will test:
1. Arriving at the goal location: Does the robot reach the goal location (within 5cm of the location)?
2. Tuning the PID gains for performance: Are the PID gains tuned such that the settle time is less
than three second and the overshoot is no greater than 10% of the reference signal (angle to the
goal location)?
3. Reshaping the output for the hardware: If the output of the controller (v, ) is greater than what
the motors support, is the linear velocity v scaled back to ensure

is achieved?

Run the submit script (from the simulator package) in MATLAB to submit your solutions.