In Gazebo, control Turtlebot3 with light sensors that meets the requirements below:
One cylindrical obstacle will be placed at two distinct, predefined track locations.
❖ The robot will need to circumnavigate the obstacle and converge back to the again accurately (< 10 cm away the obstacle, the closer the better without contact; hitting the obstacle will render the attempt unsuccessful).
❖ If detects a collision between the robot’s main body and the obstacle, will request a repetition of the relevant lap.
❖ The obstacle location ‘difficulty’ will increase with every successive lap; the first lap will entail the obstacle being placed in a ‘low difficulty’ position, while it shall be moved to a location of higher difficulty for the second lap.
❖ When the robot fails, it will need to restart the lap from the initial position.
❖ robot will be expected to complete the first lap, and avoid the obstacle,
within a 13-minute time period.
❖ For the second ‘lap’, the robot will be placed at a checkpoint located a few metres away from the obstacle. The aim will be to avoid the obstacle and resume line- following, within a 3-minute time period.
❖ The stopwatch timer will be stopped, when the robot is being moved to a checkpoint.
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