It will happen. $[$You can add a new robot to the environment by using the "spawn" service in Turtlesim.$]$ Robots

state vector $x,y,$

$T$

It is shown with. Here $x$ and $y$ represent the position of the robot in the $2D$ environment; if $$

shows the direction angle. Robot$-1,[0,0,0]T$

; Robot$-2$ can be used randomly, provided that it is in the working environment.

It will start in a state determined as $.$

A motion$-$controller $($ROS node$)$ will be written for each robot.

Robot$-1\text{'}$s motion controller follows Robot$-2$ from the specified distance.

should be designed. Robot$-1$ can access Robot$-2\text{'}$s state information. As a controller,

PID will be used. In my consultancy, those who do graduation projects on robotics can use PID as well as PureThey will also implement Pursuit and Stanley controllers.

Robot$-2\text{'}$s motion controller should be designed according to the following motion strategy:

o Robot$-2$ moves at the current direction angle and determined constant speed.

o When Robot$-2$ reaches the border of the working environment, randomly choose one of the two strategies below.

It will move selectively: i$)$ It moves like the reflection of light from a mirror. So come

The angle made by the direction of rotation with the normal is equal to the angle made by the direction of rotation with the normal. ii$)$ It will determine the rotation angle randomly.

The speeds and following distances of the robots $($linear and angular$)$ are sent parametrically, initially as JSON data. must be read from the file.

$[$

$\{"$Robot$\_$Name":"Robot$1",$"Following$\_$distance":$1\},$

$\{"$Robot$\_$Name":"Robot$2",$"Linear$\_$velocity":$2,$"Angular$\_$velocity":$1\}$

$]$