COMS 4733 Computational Aspects of Robotics, Fall 2014, Homework 1
Due: Wednesday, Sep. 30 11:59PM
Using the iRobot Create Matlab Simulator and the iRobot Create
In this lab, you will use the Matlab simulator for the Create. The simulator has two parts. The first is a Matlab Toolbox for iRobot Create (MTIC) that allow you to communicate with the robot. The second is the Simulator which allows you to build environments and simulate robot movement and sensing. Programs written for the simulator can then be executed on the actual Create hardware.
What you need to do:
- Install Matlab. It can be downloaded Here
- Download Matlab Simulator for iRobot Create
- Download Matlab Toolbox for iRobot Create (MTIC)
- NEW!!!...Download and use this version of the matlab toolbox module CreateRobot.m
- You may want to use the
Wall Sensor Matlab wrapper
- Download iRobot Create Connection Guide. This shows you how to connect your laptop to the Create.
- Put this file into your MatlabToolboxiRobotCreate folder if you're using a Mac to connect with your robot
- Create an environment for the robot to explore. Your environment should look something like this ( each straight line below is about 1.5 meters long)
- Write a control program to have the Create move and hit a wall, and then follow the wall the entire distance of the wall, stopping when it returns to the start point. Note: you must write your own code, you cannot just invoke the canned demo wall following program which is already on the create!
- Now, run the program on the real robot, using any physical objects you have access to. A couple of large boxes or garbage containers usually make a nice obstacle to circumnavigate.