Challenge 1: Obstacle avoidance using the sonars sensors

Preparation

Go to your repository, return in master branch and create a new one:

git checkout master
cd ~/catkin_ws/src/autonomous_systems_architectures/
git checkout -b challenge_1

Go to the autonomous_exploration/config/autonomous_explo.yaml and change these:

• calculate_target: False
• velocities_architecture: 'motor_schema'

Task

The task is to fill the function produceSpeedsSonars located here. Based on the positions of the sonars and their measurements, produce a linear and an angular speecd in order for the robot to perform obstacle avoidance.

Hint: Try not to use mathematics instead of many if clauses, if you want the robot to move smoothly.

Finally, push you code:

cd ~/catkin_ws/src/autonomous_systems_architectures/
git add -A .
git commit -m 'whatever message you want'
git push origin challenge_1

(The above must be performed for all challenges in the corresponding branches)

Points

15 out of 100