# Robots代写 | CE315 MOBILE ROBOTICS

Question 1
Figure 1.1 shows the typical low-level guidance control scheme for mobile robots that are
differentially driven.
Figure 1.1
(a) Explain the driving mechanism for this kind of mobile robot.
(b) Assume that its left wheel speed is Vl, its right wheel speed is Vr, the robot speed is Vo,
and the wheelbase is W. Give its kinematic equations.
(c) Draw a diagram to show its odometry calculation process.
[10%]
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Path
Guidance
Left
Controller
Right
Controller
Amplifier
Amplifier
Left
Motor
Right
Motor
Robot
Kinematics
Optical
encoder
Optical
encoder
Odometry
(a) Explain the driving mechanism for this kind of mobile robot.
(b) Assume that its left wheel speed is Vl, its right wheel speed is Vr, the robot speed is Vo,
and the wheelbase is W. Give its kinematic equations.
(c) Draw a diagram to show its odometry calculation process.
[10%]
[6%]
[9%]

Question 2
(a) A burst of ultrasound signal travels at 343 m/s and takes 0.008 s to reach and return
from an object. Suppose that a 12-bit counter is available for counting the signal-
travelling time:
(i) What is the range, in metres, of the object?
(ii) Choose the frequency, in kHz, of a pulse generator (square wave) for this counter
so that the maximum range measurement is about 9 m.
(b) Space representation (mapping) is one of the important issues to be addressed in robot
navigation, for the purpose of path planning. The following two figures show maps that
are constructed for the same indoor environment.
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(i) What are the names for each of these two maps?
(ii) Describe briefly the basic idea of each of these two maps.
[4%]
[8%] E-mail: itcsdx@outlook.com  微信:itcsdx 