Navigate Mobile Car in Simulation

1. Project Objective • Get familiar with mobile robot simulation • Understand intelligent robot programming • Apply inverse kinematics and navigation algorithms in simulated environments 2. Project Steps 1. Environment setup should be the same with the mid-term project 2. Run [login to view URL] to test if the environment is ready for the following tasks ◦ The outputs should be: A mobile robot and six obstacles in the environment 3. Implement the two functions under “implement your function here” section in [login to view URL] ◦ control_car function to control the car ◦ navigate_car function to navigate the car to the final location ▪ using navigation algorithms discussed in class ▪ from [0, 0] to [9, -9] (already given in the code) ◦ Finish the two functions mentioned above and do NOT change other part of the code 4. Record a video for a successfully trail 3. What you need to submit • Functional [login to view URL] (30 points) • Demo illustration (30 points) ◦ A video that demonstrates a successful navigation trail to the final position. • Project Report (40 points) ◦ A project report that in academic paper format should be written for this project. (the same format used in project 1) ◦ The report should include: ▪ Introduction (5%) • Background about car navigation (2%) • Procedure of the project (2%) • Brief Summary of the project (1%) ▪ Project Descriptions (10%) • Describe the procedure (2%) • Describe the applied algorithm/methods of the project (4%) • Show the formula or equation or function of calculating the direction of travel and speed (3%) • Include a picture of the generated environment with the robot (1%) ▪ Results (10%) • Generated or planned trajectory of the robot moving in the environment (5%) • Snapshots of successful and failed navigation (hitting obstacles etc, if there are any) (5%) ▪ Discussion of results (10%) • Discuss the advantages and disadvantages of the designed control algorithms. Why is it successful? (5%) • Discuss the designed trajectory of robot navigation. What are the key parameters and how are the parameters are selected? (5%) ▪ Conclusion (3%) • Conclude the report, what you have done (1%), what results you have got (1%), what worked and what did not (1%). ▪ Reference (1%)