Webots fitness function6/16/2023 The encoder values are incremented when the corresponding wheel moves forwards and decremented when it moves backwards. The definition of the variables used in the functions is given below.ĮncoderValues.append(encoder.getValue()) # Some information for implementing the code In what conditions is odometry-based localication useful? And when is it problematic?.How accurate is the odometry-based localization?.Compare the pose calculated by your functions with the pose calculated by Webots in different moments of the simulation.Write the function get_robot_pose(u, w, x, y, phi, delta_t) to calculate the position and orientation of the robot based on its orientation and linear and angular speeds.Test your code before moving to the next step. Write the function get_robot_speeds(wl, wr, R, D) to calculate the linear and angular speeds of the robot based on the speed of its wheels.Write the function get_wheels_speed(encoderValues, oldEncoderValues, delta_t) to calculate the speed of the robot wheels based on encoder readings.= get_robot_pose(u, w, x, y, phi, delta_t) # Compute robot linear and angular speeds = get_wheels_speed(encoderValues, oldEncoderValues, delta_t) The functions below should be called in sequence in the main loop of your program: Your main task is to write code to implement the functions below to add localization capability to your line-following behavior. Webots screenshot showing robot pose calculated by the simulator (left) and by the Python code (bottom). You should print the position calculated by your functions at the end of each cycle, as shown in Figure 1, to facilitate comparison with the pose as calculated by Webots.įigure 1. You will see the values of position and orientation of the robot (see Figure 1). To see the pose of the robot as calculated by Webots, click on “DEF E_PUCK E-puck” on the left menu and select “translation”. If not, please use the provided solution. You should have a working solution of Lab 2.You must know how to create a robot controller in Python and how to run a simulation (see Lab 1).You must have Webots R2022a (or newer) properly configured to work with Python (see Lab 1).The goal of this lab is to implement a simple algorithm for odometry-based robot localization and evaluate its accuracy. Lab 3 – Odometry-based Localization Robotics Simulation Labs - Set of tutorials to practice robotics concepts with Webots and Python View on GitHub Lab 3 – Odometry-based Localization Objective ![]() Wb_motor_set_position(ur_motors, place_position) Īnother possibility is to use wb_robot_get_time() to retrieve the current simulation time (instead of the counter variable) and to perform some action only when a certain time is reached.įinally, another possibility would be to use the position feedback to step to the next motion (closing the gripper) only when the target position is reached (and not after some fixed time delay).Lab 3 – Odometry-based Localization | Robotics-Simulation-Labs Skip to the content. Wb_motor_set_position(finger_motors, 0.5) Wb_motor_set_position(ur_motors, pick_position) There are different possibilities to achieve what you want.Ī simple one would be to introduce a time counter variable (you may need to adjust the 100 and 200 values depending on your TIME_STEP): int counter = 0
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