Random Movement & PID Controller - IT Assignment Help

Assignment Task

Task
The aim of the programming assignment is to take a partially completed Webots project, and extend it to navigate around an arena, so that a map can be generated for the arena.  To do this, you will need to add code to the controller to move the robot around so that it can visit each part of the arena.  The robot will automatically generate an occupancy grid map based on the sensor values, therefore there is no need for you to write code to visualise the map or generate the occupancy grid.  This is because the project already includes code for the Occupancy Grid, as well as a display that visualises the position of the robot and the occupancy grid map, and a display based on previous lab work that provides useful information about the robot (specifically the current pose and a visualisation of the sensor readings).In addition to writing the navigation code, you will be expected to write a short summary of your solution and how it works. You can adopt any solution to navigating around the arena, and the marking will be based on the approach taken as well as the quality of the associated map (see details of the rubric for more information).MyAssignmentController: this is the file you will edit.  Some initial code has already been written to support your assignment, but you will be expected to write some navigation code to direct the robot around the arena.  In particular, the robot will be running in supervisor mode, and the method getLocalisedPos() will return the current pose of the robot by querying the Webots world.   Therefore you will not be required to write any localisation code (such as using a particle or grid filter, nor will you need to write a motion model or sensor model).Pose: this provides simple pose management.  Whilst similar to the version used in the Labs, this also include a new method getDeltaTheta() that returns the difference between some heading and the Pose's theta value.  This is useful in determining the difference between a desired heading and the current heading. OccupancyGrid: this implements a simple occupancy grid based on the discussion in the notes.  Note that the different log odds parameters have been pre-determined (as are the values for ? (typical wall thickness) and ? (opening angle of the sensor cone)).  When initialised, it is passed details of the sensors and models them internally (including determining their orientation).  The resulting grid map will not perfectly match that of the arena - and walls may appear thicker and uneven in the resulting map but this is normal.  See examples below.SensorView: this is similar to the sensor view class developed in the labs, and assists by representing the return values from the sensors.  It also orients the robot in its display to reflect the current heading of the robot.  It has been augmented to include the pose of the robot in the lower left corner of the display.ArenaView: This displays an area equivalent to the arena in which the robot moves, and visualises the occupancy grid.  Initially it starts as a grey rectangle but the cells appear as they are updated by the occupancy grid (shaded to indicate the probability of occupancy).  The location of the robot on this display reflects its location in the arena.The project can be downloaded, compiled and run.  The robot will appear in the top left corner of the map, but will not move.  In addition, you will see the Arena View display draw a depiction of the robot, and a subsequent of cells will appear based on the log odds values determined by the robot sensors.  It will be your task to determine how top navigate around the arena.

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