Autonomous Robots Tutorial 2

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Autonomous RobotsTutorial 2

• Odometry of a Differential Drive Robot

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Localization, Where am I?
Perception
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Differential Drive Robot Odometry
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Structure of the Robot Code
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The Programming Task

• Calculate the robots position (x,y,?) out of an
  initial position and the sensor readings from the
  wheel encoders.
• Differential Drive with
• Number of encoder signalsper round n60
• Wheel diameter r57mm
• Wheel distance l97 mm

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The Programming Task

• Do your implementation in
• ct-bot ? bot-logic ? behaviour_ar.c
• void update_Position(void)
• Input
• Counted encoder peeks
• sensEncR
• sensEncL
• Output
• Robots position
• positionX
• positionY
• positionR
• More hints in the code