Assignment 1 Safe Autonomous Driving 2021
1 Vehicle Control
Consider the 4-state unicycle model introduced in lecture 2, please address the following three problems.
1.1 [10pt] Define the energy function and the associate tracking control for Unicycle4 to track a goal position with the goal velocity to be zero.
1.2 [10pt] Derive the conditions where the control parameters should satisfy.
1.3 [10pt] Implement the above tracking control in MATLAB to drive the robot from start position [px, py] = [0, 0], to goal position [px, py] = [5, 5]. The implementation should be based on the example code shared in class. Requirement: 1) submit the plots indicating control parameters that satisfying conditions from 1.2 can stabilize the system to goal position, 2) submit the plots indicating control parameters that violating conditions from 1.2 cannot stabilize the system.
Released 5/24/2021. Due 5/30/2021. Page 1