COM760 - Autonomic Computing and Robotics Assignment

Assignment Task

Tasks

This coursework contains 2 tasks and you are required to complete all the tasks in Python working with ROS Kinetic installed on Ubuntu 16.04. Before you start, create a ROS package called com760_yourBcode. All your files in your package should be organized with the following structure:

Leader-follower formation control of multi robots

Formation control of multiple robots is one of the most important areas in robotics research. In this task, you are required to implement the basic concepts of leader-follower formation control using the turtlesim simulator which is part of the ROS installation. Multiple turtles will be spawned in the simulator, one of which is designated as the leader moving along an arbitrary trajectory. The other turtles as the followers keep track of the leader turtle in the desired distance and orientation. 1. Basic requirements:

• Using a launch file to spawn 3 turtles, namely leader, followerA and followerB, in the turtlesim simulator
• The leader turtle is located in the center with no rotation. The other 2 followers start at a random position and orientation.
• Define a custom message namely YourBCodeLeaderMessage.msg as shown below used to send an instruction from the leader to two followers
• The leader starts with sending an instruction using the defined message to two followers asking them to move to the formation position
• Once the leader detects that the two followers are in the required formation position, it turns to a random direction and then keep moving in a straight line with a red pen until it reaches the boundary of the turtlesim window. The three turtles should maintain column formation while moving, i.e. three turtles travel one after the other as illustrated in Fig. 2 with two followers move with a white pen.
• Defining a custom ROS service, namely YourBcodeServicePID.srv, which provides a service allowing a given turtle moves to a specified location using a PID controller as illustrated.

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