Two robots in the Turtlesim environment

It will happen. $[$You can add a new robot to the environment by using the $$spawn$$ service in Turtlesim.$]$ Robots

state vector $[$x$,$y$,\backslash$theta $]$

T

It is shown with $.$ Here x and y represent the position of the robot in the $2$D environment; if $\backslash$theta

shows the direction angle. Robot$-1,[0,0,0]$T

; Robot$-2$ can be used randomly, provided that it is in the working environment.

It will start in a state determined as $.$

A motion$-$controller $($ROS node$)$ will be written for each robot.

$$ Robot$-1\text{'}$s motion controller follows Robot$-2$ from the specified distance.

should be designed. Robot$-1$ can access Robot$-2\text{'}$s state information. As a controller,

PID will be used. In my consultancy, those who do graduation projects on robotics can use PID as well as Pure$-$

They will also implement Pursuit and Stanley controllers.

$$ Robot$-2\text{'}$s motion controller should be designed according to the following motion strategy:

o Robot$-2$ moves at the current direction angle and determined constant speed.

o When Robot$-2$ reaches the border of the working environment, randomly choose one of the two strategies below.

It will move selectively: i$)$ It moves like the reflection of light from a mirror. So come

The angle made by the direction of rotation with the normal is equal to the angle made by the direction of rotation with the normal. ii$)$

It will determine the rotation angle randomly.

$$ The speeds and following distances of the robots $($linear and angular$)$ are sent parametrically, initially as JSON data.

must be read from the file.