webots_sim

SGBA simulation

1. Run the teste_puck.wbt world project
2. Choose the SGBA_Controller for the Khepera IV robot if not already chosen

Outstanding bugs

• Some of the below bugs are because of the way the motor activation is coded. Need to amend the motor activation to better reflect the intended action of SGBA algorithm.
• Crashes if encounter wall at an angle
• If lose wall, will keep turning indefinitely (also behaviour observed IRL) (see closer)
• Turning is not optimal (also due to being non holonomic)
• Sometimes will get stuck at wall due to crash
• Often loses corner when turning around wall
• going forward, if near side wall, it will think it is encountering wall at angle
• too many magic numbers
• some hard coded 0.8 turns are messing up angled turns

To be implemented

• Loop detection + Reheading
• Dynamic desired heading
• Clockwise/AntiClockwise WallFollowing + CA Highway

To be checked

• Simulation, distance, robot scale