This document is for Coventry University students for their own use in completing theirassessed work for this module and should not be passed to third parties or posted on anywebsite. Any infringements of this rule should be reported to[email protected]Faculty of Engineering, Environment and Computing7073CEM – Robotics: Kinematics, Dynamics andApplicationsAssignment Brief Module TitleRobotics – Kinematics, Dynamics andApplicationsIndividualCohortSeptModule Code7073CEMCoursework Title (e.g. CWK1)Trajectory Tracking Control of a differential drive robotHand out date:4th October 2021LecturerDr Andrew Jason Tickle, Dr John ArvanitakisDue date and time:Date: 22nd October 2021Online: 18:00:00Estimated Time (hrs): 30Word Limit*:Coursework type:Literature Review, ComputerSimulation% of Module Mark50%Submission arrangement online via Aula: Submission via Turnitin by 18:00File types and method of recording: Submit a PDF File with the file name being your Student IDMark and Feedback date (DD/MM/YY): 05/11/2021Mark and Feedback method (e.g. in lecture, electronic via Aula): Detailed written feedback when asked Module Learning Outcomes Assessed:1. Model and simulate different locomotion mechanisms that enable a mobile robot to moveunbounded throughout its environment and the motors and associated driver principles.2. Evaluate different robotic models and the kinematic control and sensor systems used by thesemodels.3. Apply the learnt principles to the applications of robotic systems and how they are used insociety.Tasks and Mark distribution:Autonomous navigation of mobile robots is an area of research with increasing interest over theyears due to recent technological advances. Tasks such as area coverage and exploration,surveillance, search and rescue missions require the creation of a trajectory, and the subsequentimplementation of a trajectory tracking controller to ensure that the robot will stay on thecreated trajectory.One of the basic models for mobile robots is that of the differential drive robot. A differential This document is for Coventry University students for their own use in completing theirassessed work for this module and should not be passed to third parties or posted on anywebsite. Any infringements of this rule should be reported to[email protected] drive robot (Fig. 1) has two independently activated wheels, with a third passive wheel forstability.Figure 1. Differential drive robot schematicThe kinematic model of the robot can be given from:????????̇ = ????????????????????????????????????????????????̇ = ????????????????????????????????????????????????̇ = ????????where v is the tangential velocity and ω is the angular velocity. Given the tangential and angularvelocity of the robot, the left and right wheel velocities can be given from:???????????????? = ???????? + ???????????????? 2???????????????? = ???????? – ???????????????? 2Where ???????? = 0.2 is the distance between the two wheels.The purpose of this assignment is to learn to control a differential drive robot. Given thelocalization information, you will need to control the robot to follow on a reference trajectory.You will need to do a report based on your findings. The individual Tasks of the assignment is asfollows:Task A: Comprehensive Literature Review (30 marks) This document is for Coventry University students for their own use in completing theirassessed work for this module and should not be passed to third parties or posted on anywebsite. Any infringements of this rule should be reported tofacultyregist[email protected] You are called to do a literature review on Simultaneous Localization and Mapping (SLAM)algorithms for mobile robots. This review will help further comprehend the fundamentals oflocalization and mapping that is essential in mobile robotics.Explain the concept of SLAM, present the early developments, provide the mathematicalformulation of the SLAM problem, provide the most common solutions and lastly, present somerecent trends that exist in the literature.Task B: Dead Reckoning algorithm implementation (20 marks)A template code will be provided that simulates in Matlab the differential drive robot presentedpreviously (file: Dead_Reckoning_Template.m). You will be required to understand andimplement the dead reckoning algorithm that will be the localization system of your robot. Thetheory and mathematics behind the dead reckoning algorithm can be found in the lecture notesand in the additional material found in Moodle.After the implementation of the Dead reckoning algorithm, simulate the following trajectories.????????) ???????? = 0.7 ????????/????????????????????????, ???????? = 0.6 ????????????????????????/????????????????????????????????) ???????? = 0.3 + |0.1????????in(0.1????????????????)| ????????/????????????????????????, ???????? = 0.6 ????????????????????????/????????????????????????????????) ???????? = 0.6 ????????/????????????????????????, ???????? = 0.4 + 0.8????????????????????????(0.3π????????) ????????????????????????/????????????????????????For each of the following trajectories show in a plot the real and estimated trajectories of therobot. Provide in a graph the errors ???????????????? – ????????????????????????????????, ???????????????? – ????????????????????????????????, ???????????????? – ????????????????????????????????. Comment on the results.Task C: Trajectory Tracking Controller Implementation and Evaluation (30 marks)A template code will be provided that simulates in Matlab the differential drive robot presentedpreviously (file: Trajectory_Control_Implementation_Template.m). Based on that, a trajectorytracking controller should be implemented. The controller is an error dynamics controllerpresented in (Klancar et al, 2005). Simulate and compare the open loop with the closed loop(controller) trajectories that the robot follows in the following cases.1. ????????????????(????????) = 0.08 + |0.08????????????????????????(0.1πt)|, ω????????(????????) = 0.5????????????????????????(0.1π????????), with initial conditions for thetrajectory (????????????????, ????????????????, θ????????) = (0, -0.6, 0), and for the robot (????????, ????????, θ) = (-0.7,0, -π/2)2. ????????????????(????????) = 0.06 + |0.2????????????????????????(0.2πt)|, ω????????(????????) = 0.8????????????????????????(0.1π????????), with initial conditions for thetrajectory (????????????????, ????????????????, θ????????) = (0, -0.6, 0) and for the robot (????????, ????????, θ) = (-0.7,0.5, -π)Mind that the robot has a limit in the maximum attainable velocities. You will consider two setsof velocity constraints:a. (????????????????????????????????, ????????????????????????????????) = (0.3 ????????/????????????????????????, ????????/4 ????????????????????????/????????????????????????)b. (????????????????????????????????, ????????????????????????????????) = (1 ????????/????????????????????????, ???????? ????????????????????????/????????????????????????). This document is for Coventry University students for their own use in completing theirassessed work for this module and should not be passed to third parties or posted on anywebsite. Any infringements of this rule should be reported to[email protected] Simulate the open loop (just reference velocities given to the robot) and the closed loop(implementation of the controller) trajectories (in total 8 sets of simulations).Fine tune your controller via the proper selection of g and ζ and comment on the effect thatthese two parameters have on the trajectory of the robot. Information on the theoreticalbackground of the controller and its implementation can be found in Moodle.Report (20 marks):The report should be well structured, proper referencing in CU Harvard style, and usage of thetemplate provided on the Moodle page. It should contain all the literature review, the stepsdone towards the implementation and evaluation of the trajectory tracking controller. Allsimulation results should be accompanied with comments on the efficiency of the methods thatare implemented.The marking scheme guidelines are shown later in the document. Remember to cite allreferences and source material clearly; failure to do so will result in a reduction in marks orplagiarism being concerned.References:Klancar G., Matko D., and Blazic S. (2005) “Mobile robot control on a reference path”, inproceedings of the 2005 IEEE International Mediterranean Conference on Control andAutomation, June 2005, pp. 1343 –1348.Notes:1. You are expected to use the Coventry University APA style for referencing. For support andadvice on this students can contact Centre for Academic Writing (CAW).2. Please notify your registry course support team and module leader for disability support.3. Any student requiring an extension or deferral should follow the university process as outlinedhere.4. The University cannot take responsibility for any coursework lost or corrupted on disks, laptopsor personal computer. Students should therefore regularly back-up any work and are advised tosave it on the University system.5. If there are technical or performance issues that prevent students submitting courseworkthrough the online coursework submission system on the day of a coursework deadline, anappropriate extension to the coursework submission deadline will be agreed. This extension willnormally be 24 hours or the next working day if the deadline falls on a Friday or over theweekend period. This will be communicated via your Module Leader.6. *(ML’s delete if not applying to this assessment) Assignments that are more than 10% over theword limit will result in a deduction of 10% of the mark i.e. a mark of 60% will lead to a reductionof 6% to 54%. The word limit includes quotations, but excludes the bibliography, reference listand tables.7. You are encouraged to check the originality of your work by using the draft Turnitin links on Aula. This document is for Coventry University students for their own use in completing theirassessed work for this module and should not be passed to third parties or posted on anywebsite. Any infringements of this rule should be reported to[email protected] 8. Collusion between students (where sections of your work are similar to the work submitted byother students in this or previous module cohorts) is taken extremely seriously and will bereported to the academic conduct panel. This applies to both courseworks and exam answers.9. A marked difference between your writing style, knowledge and skill level demonstrated in classdiscussion, any test conditions and that demonstrated in a coursework assignment may result inyou having to undertake a Viva Voce in order to prove the coursework assignment is entirely yourown work.10. If you make use of the services of a proof reader in your work you must keep your original versionand make it available as a demonstration of your written efforts.11. You must not submit work for assessment that you have already submitted (partially or in full),either for your current course or for another qualification of this university, with the exception ofresits, where for the coursework, you maybe asked to rework and improve a previous attempt.This requirement will be specifically detailed in your assignment brief or specific course or moduleinformation. Where earlier work by you is citable, i.e. it has already been published/submitted,you must reference it clearly. Identical pieces of work submitted concurrently may also beconsidered to be self-plagiarism. Mark allocation guidelines to students (to be edited by staff per assessment) 0-3940-4950-5960-6970+80+Work mainlyincompleteand /orweaknesses inmost areasMost elementscompleted;weaknessesoutweighstrengthsMost elementsare strong,minorweaknessesStrengths in allelementsMost workexceeds thestandardexpectedAll worksubstantiallyexceeds thestandardexpected This document is for Coventry University students for their own use in completing their assessed work for this module and should not be passed to thirdparties or posted on any website. Any infringements of this rule should be reported to [email protected]Marking Rubric (To be edited by staff per each assessment) GRADEANSWER RELEVANCEARGUMENT & COHERENCEEVIDENCESUMMARYFirst≥70Innovative response, answers thequestion fully, addressing the learningobjectives of the assessment task.Evidence of critical analysis, synthesisand evaluation.A clear, consistent in-depth critical andevaluative argument, displaying the abilityto develop original ideas from a range ofsources. Engagement with theoreticaland conceptual analysis.Wide range of appropriately supportingevidence provided, going beyond therecommended texts. Correctlyreferenced.An outstanding, well-structured andappropriately referenced answer,demonstrating a high degree ofunderstanding and critical analytic skills.Upper Second60-69A very good attempt to address theobjectives of the assessment task with anemphasis on those elements requiringcritical review.A generally clear line of critical andevaluative argument is presented.Relationships between statements andsections are easy to follow, and there is asound, coherent structure.A very good range of relevant sources isused in a largely consistent way assupporting evidence. There is use ofsome sources beyond recommendedtexts. Correctly referenced in the main.The answer demonstrates a very goodunderstanding of theories, concepts andissues, with evidence of reading beyondthe recommended minimum. Wellorganised and clearly written.Lower Second50-59Competently addresses objectives, butmay contain errors or omissions andcritical discussion of issues may besuperficial or limited in places.Some critical discussion, but the argumentis not always convincing, and the work isdescriptive in places, with over-reliance onthe work of others.A range of relevant sources is used, butthe critical evaluation aspect is not fullypresented. There is limited use of sourcesbeyond the standard recommendedmaterials. Referencing is not alwayscorrectly presented.The answer demonstrates a goodunderstanding of some relevanttheories, concepts and issues, but thereare some errors and irrelevant materialincluded. The structure lacks clarity.Third40-49Addresses most objectives of theassessment task, with some notableomissions. The structure is unclear inparts, and there is limited analysis.The work is descriptive with minimalcritical discussion and limited theoreticalengagement.A limited range of relevant sources usedwithout appropriate presentation assupporting or conflicting evidence coupledwith very limited critical analysis.Referencing has some errors.Some understanding is demonstrated butis incomplete, and there is evidence oflimited research on the topic. Poorstructure and presentation, with fewand/or poorly presented references.Fail
