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What you need to do In this assessment: you will be provided with a dynamic model of a vehicle and then you will be required to: 1. Design a guidance subsystem that commands the vehicle to follow waypoints tracking an optimal trajectory. 2. Conduct simulations to tune the stabilisation of the controllers and guidance. 3. Complete the mission in the shortest time possible. Note – Further details, including required content for the assessment, can be found in this document: Assignment Part A. Resources available to complete the task Simulation Environment (Release 2023b): egh446_simEnv2024_23b.zip. Simulation environment 1. How to start part A of the assignment, wrapping angles, how to create functions in MATLAB, persistent variables, etc. Download SimEnv-tutorial.pdf. 2. How to design heading controllers This guide will help you design heading controllers that can be used to command your robot heading towards a given location. Download SimEnv-control-tutorial.pdf 3. PID Control This guide will help students learn about PID controllers and an empirical way to tune them. Download pid_control-tutorial.pdf
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