Simulation

In this chapter, I will give an overview of simulation and writing simulation code in Python.

What you will learn

How to determine the correct level of abstraction for simulation
How to write simulation code in Python

Terminology

analytical model (closed-form): a model that can be computed exactly
numerical model: a model that must be computed approximately (and typically iteratively)

Lecture

Links

Simulation introduction

Writing simulation code

I use Watchexec to rerun my Python script on save. Here is a direct link to the simulation script.

Interactive

You will find a reasonable introduction to simulation on my Simulation in Evolutionary Robotics tutorial website.

Exercise

You will submit your responses on gradescope. Only one partner should submit. The submitter will add the other partner through the gradescope interface.

Additional details for using gradescope can be found here:

You should open the gradescope assignment now so that you know what to work complete.

Grading

I will grade all exercises using a scale of “Nailed It” / “Not Yet”. See the course grading policy for more information, and check gradescope for deadlines.

Overview

The goal for this exercise is to write a simulation (in a language of your choice) that simulates your robot moving through a sequence of waypoints. You can use my example code as a starting point, or you can write yours from scratch. Your simulation must include the following:

forward kinematics
position control
at least five waypoints
plotting

You will need to upload your code and a figure to gradescope.

Wrap-Up

In the next chapter, you will build on this simulation to make your robot navigate a pre-planned path.