The Robotics Primer Workbook Developed by  USC, iRobot® and Microsoft® Robotics Studio

Categories: Exercise | Player Exercise | Command Module Exercise

Feedback Control:Exercise 1: Proportional Control

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Setup

This exercise makes use the Devantech SRF05 sonar sensor. Please complete the sonar exercise for information on using the SRF05 sonar. Attach the sonar to the top of the robot facing to the side, just as you would for wall following.

Proportional Control for wall-following

A proportional controller uses the immediate error in a measurement to determine an action. In this exercise the robot should move straight toward and obstacle and stop 0.5 meters in front of it. Initially place the robot 2-3 meters from the obstacle with the sonar facing forward. Your job is to write a proportional controller that will move the robot to withing 50 cm of the obstacle.

The equation for a proportional controller is

P = Kp * error

where Kp is a constant gain factor, and error is the amount of error in the system.

Solution

Here is a solution for this exercise.