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Assignment 1: "Meandering with a Mazy Motion"

In this assignment, you will use the Roomba model robot to navigate a maze. The roomba must navigate from the top left corner of the maze to the bottom right. You can use the coordinates in the maze to determine when your robot has reached the opposite corner (46, -46).

You should start this assignment early, there are a lot of implementation details that are trickier than they might seem from this writeup.

Configuration Files

This assignment has three portions. In each, the robot has a different set of sensors. For each portion, your robot should successfully navigate the maze. The configuration files for each are provided in this tarball.

Inside there is a client skeleton files which you are welcome to use or not use.

  • LimitedLaser - This robot only contains two IR wall sensors.
    • To run player maze-ir.cfg
    • NOTE: You may only use lp[0] and lp[360] from the LaserProxy. These represent your left and right IR wall sensors. Hint: You can also use the position of the robot.
  • Laser - This robot only contains a 180 degree laser.
    • To run player maze-laser.cfg
  • Sonar - This robot only contains 16 sonar devices on it.
    • To run player maze-sonar.cfg

Additional Requirements

  • You may not hard code turns or rely on anything particular to the provided maze (except in assuming the end position as the opposite corner).

Extra Credit

Create another set of maze files, get the bump sensor to work, and navigate using only the bump sensor.

This is worth up to five extra points.

What to Submit

A tarball containing:

  1. Client-code for each portion (LimitedLaser, Laser, and Sonar) of the assignment.
  2. Video(s) of your solution to each scenario.

How to Submit

Email your tarball & videos (or links to your videos) to the TA\'s: Dustin Ingram (dsi23@drexel.edu) & Aaron Rosenfeld (ar374@drexel.edu)


  • Robot reaches the end of the maze: 18 total points
    • IR robot: 6 points
    • Laser robot: 6 points
    • Sonar robot: 6 points
  • Code is readable and documented: 2 point

\'\'\'Total: 20 points + up to 5 EC points\'\'\'



Expected Results


A bumper robot using left wall following.