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PAC-MAN: Robotics and Control 2 Project

logo_pacman

This repository contains the project implementation for the Robotics & Control 2 (R&C2) course at the University of Padova, Department of Information Engineering. For more information you can read our presentation ./presentation.pdf.

Output Example

pacman.mp4

Project Overview: The "PAC-MAN Challenge"

The challenge involves controlling a unicycle mobile robot—modeled after the classic arcade character PAC-MAN—to navigate a maze environment. The robot must track a specific path and successfully perform a parking maneuver into a central docking box.

Project Phases

The implementation is divided into four distinct phases:

  • Phase 1: Definition of the scenario, path characterization (trajectory to be tracked), and positioning of the docking box.
  • Phase 2: Definition of simplified scenarios to perform controller tuning.
  • Phase 3: Execution of the tracking task along a closed trajectory within the maze.
  • Phase 4: Regulation task to transition from the end of the trajectory into the final parking box.

Control Architecture

In this project we've tested 3 different controllers for trajectory tracking and 2 different controllers for regulation.

Control Scheme Architecture Diagram
State-error linearization control scheme
State-error nonlinear control scheme
Output-error feedback control scheme
Cartesian Control Posture Control

Run the code

Tune a controller:

run Scripts/tuning.m

Plots are stored in ./Figures/ folder.

Simulate inside PAC-MAN maze:

run Scripts/maze_sim.m

Plots are stored in ./Scripts/Figures/ folder, the video is stored in ./Scripts/Video/.