Navigation control

a) What control should be applied so robots do not collide with obstacles and each other?

b) What motor schemas should be used? For example, go to Goal, Avoid obstacles, Avoid collisions with other robots?

c) How robots can find the goal?

d) Describe your robot's behaviour/motion; you may assume that your robot is omnidirectional and holonomic. An option: a robot knows the coordinates of the GOAL, they are given. In this case, the robots have perfect sensors; they can sense all obstacles in the environment. If their sensors are not perfect, robots can follow the direction to the goal, and when it encounters an obstacle, the direction to follow is updated. Note. For navigation, control uses the artificial potential field approach. Goals are modelled as attraction potentials, and obstacles - as repulsive potentials. Correspondingly, obstacles create repulsive forces towards robots. A robot creates either repulsive or attraction force towards other robots. The latter case can occur if a robot follows the leader. Goals create attractive forces. Robot movement is controlled by the resulting force which is the weighted sum of all forces acting on a robot. We can consider a simplified situation: velocity of a robot coincides with

a) direction of the resulting force;

b) magnitude of the resulting force with some scaling coefficient for a unit time step. Describe possible conflict situations. The description of all the steps, that robots need to perform to reach their targets, is the basis for the pseudocode. Samples of pseudocodes will be provided.

e) Providing a code for artificial potential function. You can attempt to design the potential function for your scenario; however, you can provide a code of a simple potential function, consisting of one attraction and one repulsion potential.