ENG5009 Advanced Control 5 Assignment
Introduction
This assignment is presented as a challenge within control engineering.
The first part of the assignment was completed as part of the Lab1 and Lab2 handouts and the results
should be included as an appendix.
The second stage is to follow the steps below and capture the required data.
The final stage of the assignment is to create a controller based on either fuzzy logic, a neural network,
a combination of both, or any other controller you feel is reasonable, that is able to guide a robot to a
particular point (within 0.05m radius of the point) while avoiding obstacles.
The method you use is to be presented in a report with results presented and discussed. The report
should cover a short description of the controller, the relevant input/output stages, and provide the
results. A description of the testing undertaken should also be presented. Improvements to the system
developed could also be mentioned.
The report should be a MAXIMUM of 10 pages (not including appendices).
A guide to the marking of the report is provided.
Provided Resources
All resources that have been used in the labs to date will be available. You are free to use the Fuzzy
Logic Toolbox.
Task 1
Develop a controller that is able to drive the robot to a selected point. The position of the robot can be
assumed to be accurately know via state(19) and state(20).
The first stage of developing this controller is to establish the direction that the robot is required to drive
in. To achieve this you can use the following function to work out the required heading:
[booleanAtCheckpoint, newHeadingAngle] =
ComputeHeadingAngle( currentLocation, checkpoint, tolerance)
in which:
currentLocation – the current coordinates of the robot, you can use state(timeStep,19:20)
checkpoint – the coordinates of the checkpoint the robot is aiming for now
tolerance – if the robot is within an x meter radius of the target, it is considered accurate enough, you
can use 0.05
booleanAtCheckpoint – returns 1 if the robot reached the checkpoint and 0 if not
newHeadingAngle – the heading angle to move towards the given checkpoint
Once implemented, provide a plot showing the robot driving to the points (with no obstacles) provided in
Table 1.
Table 1: Points to travel through
Point X Y
1 0 3
2 1 2
3 -1 4
4 -1 -2
5 -0.2 2
Task 2
Develop a controller that is able to drive a robot to a known point (x = 3.5m y = 2.5m) via the points
provided in Table 2, while avoiding obstacles.
Table 2: Points to travel through
Point X Y
Start -2 -1
1 -2 3
2 -1 -4
3 3 -4
4 -1 -2
5 3 0
End 3.5 2.5
A map of the area is provided below with the point to travel to marked in red and the start point marked
in blue (x = -2m y = -1m).
Don’t forget to generate the extra walls using WallGeneration.m.
























































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