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MCR2 Mini Challenge2

This document outlines a multi-part mini challenge for students to review concepts of closed loop control in robotics by implementing PID control to move a robot in a simulator and real robot to follow a square path. Students must create their own ROS nodes and packages to complete the challenge without templates. The challenge evaluates robustness, perturbation handling, and path planning.

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Manuel Eduardo Ochoa Obezo
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9 views

MCR2 Mini Challenge2

This document outlines a multi-part mini challenge for students to review concepts of closed loop control in robotics by implementing PID control to move a robot in a simulator and real robot to follow a square path. Students must create their own ROS nodes and packages to complete the challenge without templates. The challenge evaluates robustness, perturbation handling, and path planning.

Uploaded by

Manuel Eduardo Ochoa Obezo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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{Learn, Create, Innovate};

Challenges
Mini challenge 2
Mini challenge 2

• This challenge is intended for the student


to review the concepts introduced in this
week.

• This challenge aims to show the behaviour


of the closed loop control in robotics.

• This challenge will be divided in different


sections.
Mini challenge 2
Mini challenge 2 - Part 1

• The task consists of using a PID (P, PI or PID) control to


move the robot to different positions in the space.

• This task must be implemented using the Gazebo


Puzzlebot Simulator and the real robot.

• No template is given for this activity (is a challenge)


except for the Gazebo Simulator. The student must
create each own nodes and packages in ROS (VM or
dual booting is allowed).

• The robot must follow a square shape path of side


length 2m.

• The initial pose of the robot must be 0,0,0 𝑇


for
𝑥𝑟 , 𝑦𝑟 , 𝜃𝑟 𝑇
respectively.
Mini challenge 2
• The closed loop controller must be robust.

• The student must define what is robustness


and implement strategies to achieve it with
the controller.

• The controller must be tunned properly.

• The controller must take into consideration,


perturbation, nonlinearities and noise.

• It is encouraged, but not required, for the


student to use a config file or a parameter in the
launch file to establish the goal targets such that
they can be changed outside the code (not
hardcoded).
Mini challenge 2
• Mini challenge 2 - Part 2

• The task consists of using a PID (P, PI or PID) control to move the robot to different
positions in the space.

• This task must be implemented using the Gazebo Puzzlebot Simulator and the real
robot.

• The student must create a path generator node, that publishes the current and
next goal once the robot completes the current goal.

• The path generator node can take other decisions (change the controller gains or
control methodology) if deem necessary by the student and the circumstances.

• The node must let the user know if the point is reachable according to the
dynamical behaviour of the mobile robot and controller (if applies).

• The number of targets 𝒙 can be specified by each student (minimum required: 3


different positions, excluding the initial position).

• The initial pose of the robot must be 0,0,0 𝑇


for 𝑥𝑟 , 𝑦𝑟 , 𝜃𝑟 𝑇
respectively.
Mini challenge 2
• The closed loop controller must be robust.

• The student must define what is robustness


and implement strategies to achieve it with the
controller.

• The controller must take into consideration,


perturbation, nonlinearities and noise.

• The controller must be tunned properly.

• It is encouraged, but not required, for the student to


use a config file or a parameter in the launch file to
establish the goal targets such that they can be
changed outside the code (not hardcoded).

• The message for the topic /goals must be a custom


message based on the geometry_msgs “pose”.
Rules
• This is challenge not a class. The students are encouraged to research, improve tune explain their algorithms by themselves.

• MCR2(Manchester Robotics) Reserves the right to answer a question if it is determined that the questions contains partially or totally an answer.

• The students are welcomed to ask only about the theoretical aspect of the classed.

• No remote control or any other form of human interaction with the simulator or ROS is allowed (except at the start when launching the files).

• It is forbidden to use any other internet libraires with the exception of standard libraires or NumPy.

• If in doubt about libraires please ask any teaching assistant.

• Improvements to the algorithms are encouraged and may be used as long as the students provide the reasons and a detailed explanation on the
improvements.

• All the students must be respectful towards each other and abide by the previously defined rules.

• Manchester robotics reserves the right to provide any form of grading. Grading and grading methodology are done by the professor in charge of the
unit.

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