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CE801 – Intelligent Systems and Robotics Assignment
Autumn 2020

1. Objectives

 To translate the theoretical knowledge gained throughout the course into practice by
designing and implementing systems for real mobile robots using a simulator.
 To produce a report detailing the design, implementation, and relevant literature material
surrounding the subjects.

2. Deadline and Submission Requirements

The deadline for the report is as specified by the School Assignment deadline.


Demonstration of the project:
Your project will be demonstrated to and assessed by a GLA in a one-on-one scenario during
your lab session scheduled in Week 11. These demonstrations will involve your code (which
you will send to us prior to the demonstration) being tested on a real robot.
The demonstrations will last ~15 minutes, during which time students will be
required to present their code in its finished state, explain its main features, answer questions
relating to their work and the project, and discuss the performance of the robot.

3. Assessment Criteria

Performance (100%):
The quality of the robot’s performance in the simulator and on the real robot
as tested by a GLA.

4. Important Information

 You must work independently.
 Any late submission will receive a Zero mark unless extenuating circumstances
apply.
 Your work must be completed on the simulator and sent to a GLA prior to your
demonstration so that it can be tested on the real robot.



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5. The Task

The ROSbot robot is placed in an unstructured simulated environment. You are asked to
do the following within the simulator (100%):

1) Implement a PID Controller that enacts a right edge following behaviour
(20%).

2) Implement a fuzzy logic controller that can enact (50%):

i. Right edge following behaviour (25%).
ii. Obstacle avoidance behaviour (25%).

3) Integrate the aforementioned behaviours into a single fuzzy logic control
architecture (10%).
The remaining 20% of the marks will be awarded for the quality of your code.


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